Ublox C099-F9P-2 User manual

UBX-18063024 - R12 C1-Public www.u-blox.com
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.

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Document information
Title C099-F9P
Subtitle Application board (rev. E), ODIN-W2 Mbed™ firmware
Document type User guide
Document number UBX-18063024
Revision and date R12 29-Jun-2020
Disclosure restriction C1-Public
This document applies to the following products:
Product name Type numbers Firmware version PCN reference Product status
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 limi
ted 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
1Introduction.............................................................................................................................................5
1.1 Package contents ....................................................................................................................................... 6
1.2 Additional sources of information ........................................................................................................... 6
2C099-F9P quick start...........................................................................................................................7
2.1 Starting up ...................................................................................................................................................7
3C099-F9P description ..........................................................................................................................9
3.1 Component overview .................................................................................................................................. 9
3.2 Component identification ......................................................................................................................... 9
ZED-F9P status LEDs......................................................................................................................11
ODIN-W2 activity LED......................................................................................................................12
4Using 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
5Rover operation using NTRIP.......................................................................................................... 18
5.1 PC hosting via u-center............................................................................................................................18
5.2 Mobile hosting ...........................................................................................................................................19
6Wireless 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
7Firmware update................................................................................................................................. 26

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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
8Arduino header connections ........................................................................................................... 31
Appendix ....................................................................................................................................................... 32
AGlossary ................................................................................................................................................. 32
BC099-F9P antenna specification................................................................................................... 32
B.1 Wi-Fi/Bluetooth antenna specification....................................................................................... 32
CODIN-W2 firmware upload via JTAG............................................................................................ 32
DMechanical board dimensions........................................................................................................ 33
EC099-F9P schematics....................................................................................................................... 33
Related documents ................................................................................................................................... 39
Revision history.......................................................................................................................................... 39
Contact.......................................................................................................................................................... 40

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1Introduction
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™ firmware1tailored 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.
1The Mbed FW shall be used only with a C099-F9P kit.
2S-center usage is not required nor supported by the CLI.
3The 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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2C099-F9P quick start
This section provides some quick steps to enable ZED-F9P operation before exploring the more
complex configurations described later.
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 automatically4from 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.
4For manual driver installation, check GNSS Sensor and VCP Device Driver User guide in Related documents
USB port ZED-F9P LEDs ZED-F9P module ZED-RF connector

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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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3C099-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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Figure 5: Main components and USB ports
J9
J8
J3
J2
ZED-F9P multi band GNSS RTK module
ODIN-W2 multi-radio module
USB (ZED-F9P USB and UART,
ODIN-W2 UART ports)
GNSS antenna connector
J2, J3, J8, J9
Arduino Uno connectors
DC power jack
Battery connector
Wi-Fi/Bluetooth antenna connector

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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.
GNSS LEDs: TP, RTK, Geofence
Battery charger LED
ODIN-W2 activity LED
ODIN-W2 safeboot pins
ODIN-W2 switch 0 interrupt button
ZED-F9P safeboot button
ZED-F9P and ODIN-W2 reset button
Battery incorrect polarity indicator
LED

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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 Remark
Successful start-up, Bluetooth radio initialized Green
Bluetooth serial port profile (SPP) connection
created
Blue Connection initiated and accepted
Successful SPP data packet transmission Blinking blue
Failed SPP data packet transmission Blinking red Weak signal, Bluetooth SPP connection failure
Wi-Fi access point and station (AP and STA) ready Yellow Ready to accept incoming Wi-Fi STA connection
Wi-Fi STA connected to AP Purple Ready to accept incoming UDP client connection
Successful UDP packet transmission over Wi-Fi Blinking purple UDP packet reception is not indicated
ODIN-W2 in safeboot mode 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
Figure 8: ODIN-W2 activity LED position on C099-F9P board
ODIN-W2 activity LED
ZED-F9P Geofence status LED
ZED-F9P RTK status LED
ZED-F9P time pulse LED

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4Using 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.
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
DC power jack
Li-Po battery connector
USB

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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.
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.
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.
Red battery charge LED
SMA GNSS antenna connector
Orange battery incorrect
polarity indicator LED

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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.
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.
ZED-F9P and ODIN-W2
COM ports installed

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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)
olocal echo force off
oimplicit CR in every LF off
oimplicit LF in every CR off
☞Tera Term (Setup – Terminal)
onewline receive CR and transmit CR
olocal echo disabled
oterminal 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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5Rover 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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6Wireless 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.