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UBX-20029244 - R03 

 

 

C1-Public 

 

www.u-blox.com

 

 
 

C102-F9R 

Application board 

User guide 
 
 

 

 
 
 
 
 

 

 

Abstract

 

This document describes the structure and use of the C102-F9R and provides information for 
evaluating and testing u-blox F9 high precision sensor fusion positioning technology. 

Содержание C102-F9R

Страница 1: ...blox com C102 F9R Application board User guide Abstract This document describes the structure and use of the C102 F9R and provides information for evaluating and testing u blox F9 high precision sens...

Страница 2: ...tual 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 per...

Страница 3: ...lation 8 3 2 1 Mounting the device and the antenna to the vehicle 8 3 2 2 Connecting the cables 8 3 3 Configuring the device 9 3 3 1 ADR configuration 9 4 Configurable CAN interface 10 4 1 Valid confi...

Страница 4: ...guide UBX 20029244 R03 Contents Page 4 of 32 C1 Public B 2 2 Single speed 16 B 2 3 Signed speed 17 B 2 4 Offset speed 17 C Step by step example 18 D Schematic 25 Related documents 31 Revision history...

Страница 5: ...n phases of projects 1 1 Highlights Multi band multi constellation GNSS Automotive Dead Reckoning ADR Real time kinematic RTK Configurable CAN interface Dedicated pins for wheel tick and direction inp...

Страница 6: ...includes u blox ANN MB L1 L2 active multi band GNSS antenna with a 5 meter cable There is a female SMA connector RF IN available on the front side of the unit for connecting the antenna Do not use th...

Страница 7: ...eiver in safe boot mode Press and hold the BOOT button Press the RST button Release the RST button Release the BOOT button To use UART in safe boot mode a training sequence needs to be sent to the rec...

Страница 8: ...ing the device and the antenna to the vehicle Attach the device to the vehicle firmly to avoid any movement or vibration For testing purposes a good location is near the VRP that is the center of the...

Страница 9: ...at the host interface is connected correctly 3 3 1 ADR configuration The receiver can be configured with UBX CFG VALSET messages Consult the ZED F9R documentation 1 2 for more information about the co...

Страница 10: ...tablished via UART Connect the front connector pin MCU_UART_SEL to ground to enable the MCU communication The MCU UART runs at baud rate 115200 The following messages are supported CONFIG GET Reports...

Страница 11: ...right wheel etc Startbit index of the LSB of the value field within the CAN message Length the bit length of the value field Endianness Big endian Motorola or Little endian Intel Sign value is signed...

Страница 12: ...ate CONFIG SET message s in the MSG tool 4 3 Copy and paste a CONFIG SET message into the text field 4 4 Send the message by selecting the Send Numbers button The following dialog should be displayed...

Страница 13: ...lash Programming Utilities software 5 and USB debug adapter for 8 bit MCUs 6 Follow these steps to flash the new firmware 1 Power up the device 2 Connect the debugger to the 10 pin rear connector 3 If...

Страница 14: ...e following settings for the CAN bus CAN bitrate 500 kbps CAN message ID 0x123 DLC 8 Cycle time 0 ms The example messages are compatible with firmware C100 v1 0 B 1 Wheel tick configurations B 1 1 Two...

Страница 15: ...0 0xe8 0x03 0x5f 0x01 0xab 0x01 B 1 2 Single tick and direction This configuration uses single tick data and a separate direction signal The configuration entries are described in the tables below Sta...

Страница 16: ...ated for this configuration RR 0x43 0xa2 0x11 0x13 0x03 0x23 0x01 0x00 0x00 0x08 0x00 0x34 0x0c 0x00 0x00 0x00 0x00 0x00 0x10 0x64 0x00 0x39 0x01 0x41 0x58 RL 0x43 0xa2 0x11 0x13 0x03 0x23 0x01 0x00 0...

Страница 17: ...ed 0 01 0 327 68 327 67 km h RR 52 16 big endian signed 0 01 0 327 68 327 67 km h RL byte bit 7 6 5 4 3 2 1 0 0 1 2 msb 3 4 lsb msb 5 6 lsb 7 The following CONFIG SET messages are generated for this c...

Страница 18: ...evice and for the u center interface Odometer sensor measurements will be provided from the vehicle CAN bus via CAN_H and CAN_L pins on the front connector UART RS 232 connector will be used for the c...

Страница 19: ...C102 F9R User guide UBX 20029244 R03 Appendix Page 19 of 32 C1 Public 7 Update ZED F9R if necessary Tools Firmware Update...

Страница 20: ...ng debug messages Messages can be enabled with UBX CFG VALSET with CFG MSGOUT xx configuration keys The following hex string contains the recommended minimum set of debug messages required by u blox f...

Страница 21: ...C102 F9R User guide UBX 20029244 R03 Appendix Page 21 of 32 C1 Public...

Страница 22: ...ge 22 of 32 C1 Public Configuring the CAN interface in RealTerm 1 Open RealTerm 2 Select the Port tab 3 Select the PC port corresponding to the MCU UART 4 Set baud rate to 115200 5 Restart the C100 6...

Страница 23: ...he MSG tool to generate the CONFIG SET messages Rear right wheel tick Rear left wheel tick Direction The following CONFIG SET messages are generated for this configuration RR 0x43 0xa2 0x11 0x13 0x03...

Страница 24: ...ET strings to MCU 8 Open RealTerm 9 Select the Send tab 10 Copy and paste the rear right wheel tick CONFIG SET string to the RealTerm text box 11 Select the Send Numbers button Verify configurations w...

Страница 25: ...credentials 15 Select OK 16 NTRIP client status can be monitored in the lower part of the u center frame see the circle in the figure below 17 Fix status can be monitored with the docking windows data...

Страница 26: ...C102 F9R User guide UBX 20029244 R03 Appendix Page 26 of 32 C1 Public...

Страница 27: ...C102 F9R User guide UBX 20029244 R03 Appendix Page 27 of 32 C1 Public...

Страница 28: ...C102 F9R User guide UBX 20029244 R03 Appendix Page 28 of 32 C1 Public...

Страница 29: ...C102 F9R User guide UBX 20029244 R03 Appendix Page 29 of 32 C1 Public...

Страница 30: ...C102 F9R User guide UBX 20029244 R03 Appendix Page 30 of 32 C1 Public...

Страница 31: ...oftware 8 bit 8051 microcontroller software 6 Silicon Labs 8 bit USB Debug Adapter https www silabs com development tools mcu 8 bit 8 bit usb debug adapter For regular updates to u blox documentation...

Страница 32: ...nal Office China Beijing Phone 86 10 68 133 545 E mail info_cn u blox com Support support_cn u blox com Regional Office China Chongqing Phone 86 23 6815 1588 E mail info_cn u blox com Support support_...

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