C94 M8P Ublox App Board User Guide (UBX 15031066)
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C94-M8P u-blox RTK Application Board Package User Guide Abstract This document describes the structure and use of the C94-M8P RTK application board package and provides information for evaluating and testing the u-blox NEO-M8P high precision positioning modules. www.u-blox.com UBX-15031066 - R06 Document Information Title C94-M8P Subtitle u-blox RTK Application Board Package Document type User Guide Document number UBX-15031066 Revision and date R06 Document status Advance Information 01-Feb-2017 Document status explanation Objective Specification Document contains target values. Revised and supplementary data will be published later. Advance Information Document contains data based on early testing. Revised and supplementary data will be published later. Early Production Information Document contains data from product verification. Revised and supplementary data may be published later. Production Information Document contains the final product specification. This document applies to the following products: Product name Type number Firmware/FLASH version PCN reference C94-M8P C94-M8P-1-10 FLASH FW3.01 HPG1.30 N/A C94-M8P C94-M8P-2-10 FLASH FW3.01 HPG1.30 N/A C94-M8P C94-M8P-3-10 FLASH FW3.01 HPG1.30 N/A C94-M8P C94-M8P-4-10 FLASH FW3.01 HPG1.30 N/A u-blox reserves all rights to this document and the information contained herein. Products, names, logos and designs described herein may in whole or in part be subject to intellectual property rights. Reproduction, use, modification or disclosure to third parties of this document or any part thereof without the express permission of u-blox is strictly prohibited. The information contained herein is provided “as is” and u-blox assumes no liability for the use of the information. No warranty, either express or implied, is given, including but not limited, 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. For most recent documents, please visit www.u-blox.com. Copyright © 2017, u-blox AG UBX-15031066 - R06 Advance Information Page 2 of 29 C94-M8P - User Guide Preface Using this guide This guide assumes, the user has basic computer skills and is familiar with the Windows Graphical User Interface (GUI) and GNSS receiver environments. The following symbols are used in the document to highlight information: A warning symbol indicates actions that could negatively impact or damage the device. An index finger points out key information pertaining to device operation and performance. Warnings and certifications CAUTION! IN THE UNLIKELY EVENT OF A FAILURE IN THE INTERNAL PROTECTION CIRCUITRY THERE IS A RISK OF AN EXPLOSION WHEN CHARGING FULLY OR PARTIALLY DISCHARGED BATTERIES. REPLACE THE BATTERY IF IT NO LONGER HAS SUFFICIENT CHARGE FOR UNIT OPERATION. CONTROL THE BATTERY BEFORE USING IF THE DEVICE HAS NOT BEEN OPERATED FOR AN EXTENDED PERIOD OF TIME. Products marked with this lead-free symbol on the product label comply with the “Directive 2002/95/EC and Directive 2011/65/EU of the European Parliament and the Council on the Restriction of Use of certain Hazardous Substances in Electrical and Electronic Equipment” (RoHS). C94-M8P application board is RoHS compliant. UBX-15031066 - R06 Advance Information Preface Page 3 of 29 C94-M8P - User Guide Contents Preface ................................................................................................................................ 3 Using this guide ............................................................................................................................................... 3 Warnings and certifications ............................................................................................................................. 3 Contents.............................................................................................................................. 4 1 Introduction .................................................................................................................. 6 1.1 Overview .............................................................................................................................................. 6 1.2 1.3 C94-M8P package includes .................................................................................................................. 6 Software requirements ......................................................................................................................... 6 1.4 System requirements ............................................................................................................................ 6 2 Specification ................................................................................................................. 7 3 Getting started ............................................................................................................. 8 3.1 Software installation ............................................................................................................................. 8 3.2 Hardware installation ............................................................................................................................ 8 3.2.1 GNSS antenna considerations ........................................................................................................ 8 3.3 Updating firmware on C94-M8P ........................................................................................................... 9 3.4 Configuration ....................................................................................................................................... 9 3.4.1 GNSS module configuration .......................................................................................................... 9 4 3.4.2 Base Station configuration ........................................................................................................... 10 3.4.3 Rover configuration ..................................................................................................................... 13 Operation.................................................................................................................... 14 4.1 Base in operation ................................................................................................................................ 14 4.2 Rover in operation .............................................................................................................................. 14 4.2.1 Monitoring the quality of the RTCM stream ................................................................................ 15 5 Evaluation interfaces ................................................................................................. 16 5.1 RS232/UART Interface ........................................................................................................................ 16 5.2 USB interface ...................................................................................................................................... 16 5.3 5.4 J8 connector ....................................................................................................................................... 16 Battery connector ............................................................................................................................... 17 5.5 LED ..................................................................................................................................................... 17 5.6 Antenna connectors ........................................................................................................................... 17 5.6.1 Radio antenna connector ............................................................................................................ 17 5.6.2 GNSS antenna connector ............................................................................................................ 18 6 Block diagram ............................................................................................................. 19 7 Board layout ............................................................................................................... 20 UBX-15031066 - R06 Advance Information Contents Page 4 of 29 C94-M8P - User Guide 8 Schematic .................................................................................................................... 21 Appendix .......................................................................................................................... 22 A Glossary ...................................................................................................................... 22 B Radio communication link configuration ................................................................. 22 B.1 C Serial console terminal installation ...................................................................................................... 25 Notes on FW3.01 HPG1.30 ......................................................................................... 26 D Notes on hardware .................................................................................................... 26 D.1 Variants -00 ........................................................................................................................................ 26 D.1.1 D.1.2 Overview ..................................................................................................................................... 26 Connectors.................................................................................................................................. 26 D.1.3 Dimensions.................................................................................................................................. 27 Related documents........................................................................................................... 28 Revision history ................................................................................................................ 28 Contact .............................................................................................................................. 29 UBX-15031066 - R06 Advance Information Contents Page 5 of 29 C94-M8P - User Guide 1 Introduction 1.1 Overview The C94-M8P application board package provides the means for efficient integration and evaluation of NEO-M8P, u-blox’s M8 high precision GNSS modules. The NEO-M8P module series introduces the concept of a “Rover” and a “Base Station”. By using a data stream from the Base Station, the Rover can output its relative position with stunning cm-level accuracy in good environments. The C94-M8P board integrates the NEO-M8P-2 module with both Base Station and Rover functionality. The C94-M8P includes a UHF radio link, allowing for easy setup and fast prototyping. The board also provides connector pins for u-blox C027 and other application boards, enabling communication alternatives using u-blox cellular and short-range technologies. The C94-M8P application board package comes in four variants, each with an individually configured radio link to meet different radio frequency requirements in different regions: C94-M8P-1-10 for China (433 MHz) C94-M8P-2-10 for USA and Canada (915 MHz) C94-M8P-3-10 or C94-M8P-3-10 for Europe (433 MHz) C94-M8P-4-10 for Japan (920 Mhz) A label showing the application variant (ordering code) is located at the top-right corner of the board. For information about variants with the old board version (C94-M8P-1-00, C94-M8P-2-00 and C94-M8P-3-00) refer to Appendix D.1. 1.2 C94-M8P package includes The C94-M8P package includes: 2 application boards (both with a NEO-M8P-2 module) 2 external UHF antennas 2 external active GNSS antennas 2 antenna ground planes 2 USB cables A RF-shield is attached on the top of the radio module. A plastic enclosure is attached on the top of the GNSS module. The purpose of the enclosure is to prevent airflow affecting TCXO performance. 1.3 Software requirements For the instructions and examples in this document, we require the following software: The latest version of u-center for Windows (currently version 8.24). You can download it from https://www.u-blox.com/en/product/c94-m8p Serial console terminal, for example Putty 1.4 System requirements For the instructions and examples in this document, we have the following system requirements: PC with USB interface Operating system: Windows Vista onwards (x86 and x64 versions) GNSS USB drivers are automatically installed when installing u-center. UBX-15031066 - R06 Advance Information Introduction Page 6 of 29 C94-M8P - User Guide 2 Specification Parameter Specification Interfaces 1 USB port for GNSS data and power supply 1 RS232, for radio link configuration Connection pins for UART communication (e.g. C027), 3.3 V SMA connector External GNSS antenna and UHF antenna Dimensions 75 mm x 55 mm Weight 35 g Power Supply 5 V via USB or externally powered by battery (5.05 mm pitch 2-pin, 3.7 V – 20 V) powered 1 battery connector Normal Operating temperature -40°C to +65°C Table 1: C94-M8P application board specification UBX-15031066 - R06 Advance Information Specification Page 7 of 29 C94-M8P - User Guide 3 Getting started 3.1 Software installation The latest version of u-center (currently version 8.24) is needed for the examples and instructions described in this document. Internet access is also required during the software installation to ensure that the most up-todate components are installed on your system. After installation, the u-center application can be found in the ”u-blox” folder in the Start->Program menu. 3.2 Hardware installation To test and evaluate the benefits of u-blox’s Real Time Kinematic (RTK) technology, two C94-M8P application boards – the “Base” and the “Rover” – need to be set up as described below. Connect the UHF antenna to the SMA connector marked with “UHF” Connect the GNSS antenna to the SMA connector marked with ”GNSS” Connect the micro USB cable to the micro USB port on the board (for power and configuration) Depending on the evaluation purposes, the test connectors may be used differently The two boards are identical. Select one of the boards to act as a “Base” and one as a “Rover”. 3.2.1 GNSS antenna considerations In order to optimize the benefit of u-blox’s Real Time Kinematic (RTK) technology and achieve high accuracy performance, the placements of the antennas are extremely important. The recommendations for the GNSS antenna used with the system are: The antenna needs to be placed in an open sky environment with unobstrucked visibility to the sky. Care should be taken to minimize multipath. This can be achieved by using a ground plane, which is supplied with the application board package for the GNSS antenna, and placing it above nearby buildings or other obstructions. If the installation does not provide a natural ground plane, such as a car roof, using a ground plane is strongly recommended. The ground plane should have a minimum diameter of 10 cm. If better performance is required due to multipath, then a larger ground plane will improve the performance. Moving to a lower multipath environment might be required. For more information, refer to Achieving Centimeter Level Performance with Low Cost Antennas [6]. Correct operation requires a static Base Station. UBX-15031066 - R06 Advance Information Getting started Page 8 of 29 C94-M8P - User Guide 3.3 Updating firmware on C94-M8P Before starting evaluation, please check that the application boards are using the latest firmware. Information on the latest firmware is published on the u-blox web site. For updating the firmware, follow the steps described in chapter 7.1 Firmware Update u-blox 5-8 in u-center User Guide [4]. All the changes in configuration are lost when application boards are updated. Base and Rover must be reconfigured after updating Do not have more than one application board connected to your computer while updating 3.4 Configuration The C94-M8P package includes two identical boards featuring u-blox NEO-M8P-2 modules. You will configure one of the boards to act as a Base Station, and the other will operate as a Rover. 3.4.1 GNSS module configuration The NEO-M8P-2 positioning module on the C94-M8P application board is a concurrent GNSS receiver and can receive and track multiple GNSS systems. The NEO-M8P module is configured by default for concurrent GPS and GLONASS reception, where both constellations will be used in an RTK solution. Other available configurations are GPS-only and GPS+BeiDou reception. A GPS-only setup can be used if higher RTK update rate is of interest. The default GNSS constellation is GPS+GLONASS. For most users this is the optimal configuration and no further configuration is needed. If the configuration is changed – the changes need to be made for both boards as Base and Rover should use the same GNSS systems. For GNSS module configuration, use the micro-A USB port to connect with a PC running u-center. Once it is connected, configure the module on u-center (View -> Message View -> UBX-CFG-GNSS) as shown in Figure 1. For more information, refer to the u-center User Guide [4], the u-blox 8 / u-blox M8 Receiver Description including Protocol Specification [1], and Protocol Specification Addendum for HPG1.30 [5]. Always remember to store configuration changes by sending the UBX-CFG-CFG message in u-center, which can be done with the shortcut, . Figure 1: Configuration of the NEO-M8P-2 GNSS module on C94-M8P application board UBX-15031066 - R06 Advance Information Getting started Page 9 of 29 C94-M8P - User Guide 3.4.2 Base Station configuration The board that is selected to operate as Base needs to be configured as described below. Setting up RTCM messages A Base device needs to allow RTCM messages 1005 (Station coordinates), 1077 (GPS observations), 1087 (GLONASS observations) and 1230 (GLONASS code-phase biases) to go through the UART1 port on the receiver module. UART1 refers to the connection between the NEO-M8P-2 GNSS module and the UHF radio module on the application board. To do this, use the UBX-CFG-MSG messages as shown in Error! Reference source not found.. RTCM messages should be configured to be output at 1 Hz. The output rate must be the same as the Navigation Rate of Base station, which is 1 Hz by default. RTCM messages do not need to be configured differently even if the Navigation Rate of the Rover is configured differently, e.g. to have a higher output rate than the default 1 Hz. Individual RTCM messages should be configured at the same rate. The throughput of the RTCM communications link must be considered with respect to the amount of bytes required for the enabled RTCM messages and message rates. RTCM 1230 is required to make GLONASS ambiguity fixing possible. If BeiDou is used, RTCM message 1127 needs to be used instead of 1087 (GLONASS), and RTCM 1230 can be omitted. MSM4 observation messages (i.e. 1074 for GPS, 1084 for GLONASS, and 1124 for BeiDou) can be used instead of MSM7 to reduce the communication bandwidth requirements. UBX-15031066 - R06 Advance1005, Information Figure 2: For a GPS+GLONASS setup, enable the RTCM messages 1077, 1087 and 1230 on UART1 port Getting started Page 10 of 29 C94-M8P - User Guide Base radio link The radio link needs to be configured on the Base. Use the UBX-CFG-PRT message to set “Protocol in” to “none”, as shown in Figure 3. Figure 3: Configuring Base radio link Base station operation When the NEO-M8P functions as a Base Station, the receiver uses measurements from all available satellites to broadcast corrections. By sending the UBX-CFG-TMODE3 message, the Base Station can be configured to operate in a Fixed position mode or to self Survey-in its position, depending on the user’s knowledge of the Base Station’s antenna reference position. The Base Station must be configured with a Fixed position or have completed a Survey-in operation before it will be able to output the RTCM reference station position message needed by the Rover. The current firmware requires five ambiguities to attempt fixing. The RTK fixed status can therefore be reached when either of the following requirements is fulfilled: 1) six satellites from a single constellation are available, or 2) eight satellites from two different constellations are available. Disable NMEA (disable child messages) in u-center to see TIME mode displayed in u-center. Fixed position mode In Fixed position mode, specify the Base Station’s antenna reference point with ECEF or Lat/Lon/Alt coordinates. The corresponding fields are available via u-center, as shown in Figure 4. The coordinates can be specified with 0.1 mm resolution. For more information, see the Protocol Specification Addendum for HPG1.30 [5]. The accuracy of the specified coordinates will reflect directly in the absolute accuracy of the Rover’s position. Figure 4: Configure to Fixed Position Mode for a Base Station UBX-15031066 - R06 Advance Information Getting started Page 11 of 29 C94-M8P - User Guide Survey-in mode If the coordinates of the Base Station antenna are not known with very good accuracy, the Base Station should be configured to operate in Survey-in mode. When working in Survey-in mode the Base Station will determine its own position by building a weighted mean of all valid 3D position solutions. The UBX-CFG-TMODE3 message has two fields to fill in for survey-in mode, as shown in Figure 5. The first field, “Minimum Observation Time”, defines a minimum amount of observation time regardless of the actual number of valid fixes that were used for position calculation. Reasonable values range from one day for applications that require high absolute accuracy, to a few minutes for applications that only require high relative accuracy. The second field, “Required Position Accuracy”, forces the calculated Base station position to be of at least the given 3D position accuracy. Navigation Rate (UBX-CFB-RATE) should be 1 Hz during Survey-in. Figure 5: Configure to Survey-in Mode for a Base Station In operation, after both requirements are fulfilled, the Base station finishes the Survey-in mode and enters Fixed mode automatically. Through the UBX-NAV-SVIN message, the Base operation status from Survey-in to Fixed can be monitored, as shown in Figure 6. UBX-15031066 - R06 Advance Information Getting started Page 12 of 29 C94-M8P - User Guide Figure 6: Base Station moving from Survey-in Mode to Fixed Mode As the Base Station position error is inherited by the Rover absolute position error, users should carefully evaluate the Rover absolute accuracy requirement and setup and choose the Base station mode accordingly. 3.4.3 Rover configuration In its default mode, the Rover will automatically apply the RTCM corrections it receives. In effect, it will immediately enter RTK float mode and, assuming circumstances allow for it, eventually reach RTK fixed mode. In order to mitigate position jumps when switching between fixed and float modes, you can use RTK float-only mode. Select it using the u-center message UBX-CFG-DGNSS. In this mode, the Rover will estimate the ambiguities as float but will not attempt to fix them. Rover radio link Radio link needs to be configured on the Rover. Use UBX-CFG-PRT message to set Protocol out to “none”, as shown in Figure 7. Figure 7: Configuring Rover radio link UBX-15031066 - R06 Advance Information Getting started Page 13 of 29 C94-M8P - User Guide 4 Operation 4.1 Base in operation When the Base device is in normal operation, by enabling message UBX-NAV-STATUS, the Data View in u-center shows “TIME” fix mode. Figure 8: Data View shows “TIME” when Base is in FIXED mode 4.2 Rover in operation When the Rover device is in normal operation, the Data View in u-center shows “FLOAT” or “FIXED” to indicate the current operation mode. Figure 9: Data View shows “FLOAT” or “FIXED” on Rover Additionally, the message “UBX-NAV-RELPOSNED” in u-center shows more details about relative positions and accuracies. For more information, refer to the u-center User Guide [4], the u-blox 8 / u-blox M8 Receiver Description including Protocol Specification [1], and Protocol Specification Addendum for HPG1.30 [5]. UBX-15031066 - R06 Advance Information Operation Page 14 of 29 C94-M8P - User Guide Figure 10: UBX-NAV-RELPOSNED in u-center for Rover To achieve the expected accuracy of positioning with u-blox RTK technology, continued carrier phase tracking is important. 4.2.1 Monitoring the quality of the RTCM stream You can monitor the quality of the RTCM stream that the Rover receives. Use UBX-RXM-RTCM message to see station ID, message type and CRC status. Low latency (< 5 s) of the RTCM3 stream is critical for achieving a RTK FLOAT/FIXED solution at the Rover. Any communication issues will prevent RTK FLOAT/FIXED being achieved. UBX-15031066 - R06 Advance Information Operation Page 15 of 29 C94-M8P - User Guide 5 Evaluation interfaces The C94-M8P application board provides the specified interfaces as mentioned in section 2, for configuration, logging, and measurement. J10 J2 J1 J3 J8 J1: RS232 – UART M8P/Radio J2: USB – M8P J3: External battery / DC connector J6: Debugger interface for radio module J8: Test & Production interface J8: UART & GNSS features o Geofence and RTK status o Interface to e.g. u-blox C027 J10: Indicator LEDs J6 Figure 11: C94-M8P Application Board 5.1 RS232/UART Interface There are two purposes for the UART interface on the board: For configuring the radio module with AT commands On the Rover board, to log the data stream (RTCM messages) sent from the radio module to the GNSS module Before configuring the radio module, the UART output of the GNSS module needs to be disabled. See section Appendix B for radio communication link configuration. 5.2 USB interface The C94-M8P board provides one micro-A USB interface, which is used for: Configuring the GNSS NEO-M8P-2 module Logging data sent out from the GNSS module, including UBX, NMEA messages. 5.3 J8 connector The J8 connector is the combined interface for monitoring the Geofence status output and the RTK status output, and is also a connector for the UART. Geofence status corresponds to pin 15 and the RTK status corresponds to pin 16 on the NEO-M8P-2 module. Pin 13, pin 14, pin 20 and any of the GND pins are for connecting to u-blox C027 and other application boards. It enables communication alternatives using u-blox cellular and short-range technologies. UBX-15031066 - R06 Advance Information Evaluation interfaces Page 16 of 29 C94-M8P - User Guide The pin assignments of the 20-pin J8 connector are shown in Error! Reference source not found.. For more information, see the NEO-M8P Data Sheet [2]. Pin Nr. Assignment 1 V_BAT 2 GND 3 GND 4 RTK_STAT, monitor RTK status 5 GEOFENCE_STAT, monitor Geofence status 6 TIMEPULSE 7 GND 8 GND 9 RXD_GNSS 10 TXD_GNSS 11 GND 12 GND 13 RXD_EXT 14 TXD_EXT 15 GND 16 GND 17 SAFEBOOT_N 18 EXTINT 19 RESET_N 20 RADIO_OFF, apply 3.3 V to turn off the radio module for external UART communication. Table 2: Pin assignments of J8 connector 5.4 Battery connector There is a 2-pin battery connector available on the C94-M8P for connecting the board to an external battery or DC supply. This uses a standard 5.05 mm pitch 2-pin connector for supplying a 3.7-20 VDC source or external battery. The pin assignments of this 2-pin connector are shown in Error! Reference source not found.. Pin Nr. Assignment 1 V_BAT, battery “+” 2 GND, battery “-” Table 3: Pin assignments of battery connector 5.5 LED The Blue LED (DS2), mounted on the C94-M8P application board, shows the time pulse output signal from the NEO-M8P-2 module. The LED starts flashing one pulse per second during a GNSS fix. If there is no GNSS fix, the LED will light up without flashing. The Green LED (DS1) indicates the RTK status. The LED flashes in float mode and stays on in fix mode. The LED is off when there is no RTK fix. 5.6 Antenna connectors 5.6.1 Radio antenna connector The radio antenna SMA connector on each board is used for connecting a UHF antenna. This connector is marked with the text “UHF” on the board. UBX-15031066 - R06 Advance Information Evaluation interfaces Page 17 of 29 C94-M8P - User Guide 5.6.2 GNSS antenna connector The GNSS module SMA connector on each board is used to connect the external active GNSS antenna. This connector is marked with the text “GNSS” on the board. UBX-15031066 - R06 Advance Information Evaluation interfaces Page 18 of 29 C94-M8P - User Guide 6 Block diagram Figure 12: Block diagram of the C94-M8P application board UBX-15031066 - R06 Advance Information Block diagram Page 19 of 29 C94-M8P - User Guide 7 Board layout Figure 13: Board Layout of C94-M8P Application Board UBX-15031066 - R06 Advance Information Board layout Page 20 of 29 C94-M8P - User Guide 8 Schematic Figure 14: Schematics of C94-M8P application board UBX-15031066 - R06 Advance Information Schematic Page 21 of 29 C94-M8P - User Guide Appendix A Glossary Abbreviation Definition BeiDou Chinese satellite system ECEF Earth Center Earth Fixed format GLONASS Russian satellite system GND Ground GNSS Global Navigation Satellite System GPS Global Positioning System PCB Printed circuit board PLL Phase Locked Loop PPS Pulse Per Second QZSS Quasi-Zenith Satellite System RAIM Receiver Autonomous Integrity Monitoring RF Radio Frequency RTCM Radio Technical Commission for Maritime Services RTK Real Time Kinematic TTFF Time To First Fix UART Universal Asynchronous Receiver/Transmitter Table 5: Explanation of abbreviations used B Radio communication link configuration By default, users do not need to do any configuration for the Radio communication link. The u-blox default configurations are tested and verified. Users need to take all responsibility for any changes against the default configuration. By default, u-blox has configured the radio link module to meet local radio frequency requirements. The C94-M8P application boards are labeled according to different radio module variants as follows: C94-M8P-1 for China C94-M8P-2 for USA and Canada C94-M8P-3 for Europe C94-M8P-4 for Japan The default radio-link configurations in shipped C94-M8P boards are listed here: UBX-15031066 - R06 Advance Information Appendix Page 22 of 29 C94-M8P - User Guide Parameters C94-M8P-1 for China C94-M8P-2 for USA/Canada C94-M8P-3 for Europe C94-M8P-4 for Japan Minimum Frequency 433.180 MHz 902.5 MHz 433.230 MHz 922.8 MHz Maximum Frequency 434.730 MHz 928.0 MHz 434.730 MHz 923.2 MHz Air Speed 32 kbps 32 kbps 48 kbps 48 kbps Serial baud rate 19.2 kbps 19.2 kbps 19.2kbps 19.2 kbps TX Power 11 dBm 20 dBm 11 dBm 8 dBm LBT_RSSI 0 0 71 78 Number of Channels 10 50 7 3 ECC 0 (off) 0 (off) 0 (off) 0 (off) OpResend 0 (off) 0 (off) 0 (off) 0 (off) Duty Cycle 100 % 100 % 20 % 100 % Window width 66 66 66 66 MAVLink 0 0 0 0 Table 4: Default configuration for regional variants of the radio module on C94-M8P application boards The u-blox default configurations of the radio module regional variants are tested and verified. Users need to take all responsibility for any changes to the default configuration. The C94-M8P application board uses a HM-TRP radio module with SiK open source firmware, which supports a subset variant of the Hayes “AT” modem commands for advance configuration. Before configuring the radio module, the GNSS module UART output needs to be disabled via u-center (View -> Message View -> UBX-CFG-PRT), as shown in Figure 15. For more information, see the u-center User Guide [4], and the u-blox 8 / u-blox M8 Receiver Description including Protocol Specification [1]. Figure 15: Disable UART output of NEO-M8P-2 GNSS module on C94-M8P application board Use the serial-console application, Putty, on the PC to connect to the RS232/UART interface. Configure the serial connection with baud rate 19200 Bd and COM port number assigned by Windows OS, as shown in Figure 16. For more information about installing serial-console application, please see chapter B.1. Figure 16: Configuration of serial connection for Radio Module on C94-M8P Application Board UBX-15031066 - R06 Advance Information Appendix Page 23 of 29 C94-M8P - User Guide Enable the AT command mode by sending sequence “+++” (quickly type “+++” and wait for 1 second) via the serial link. The radio module sends “OK” to indicate entering the AT command mode. Figure 17: Radio module sends “OK” prompt through serial link when AT Command Mode is Enabled In AT command mode, the radio module accepts AT commands and gives response correspondingly. In case of wrong AT commands, the radio module returns ERROR as the response. Figure 18: Send AT commands to Radio Module Table 5 shows the AT command set that is supported by the C94-M8P application board. Table 6 shows all radio parameters that are configurable. For more information about configuring the radio module used by C94-M8P, see http://copter.ardupilot.com/wiki/common-3dr-radio-advanced-configurationand-technical-information/. UHF operation needs to be on licensed bands according to regions. Remember to enable GNSS module UART output on Base when finished with radio communication link configuration. UBX-15031066 - R06 Advance Information Appendix Page 24 of 29 C94-M8P - User Guide Commands Description ATI Shows radio version ATI2 Shows board type ATI3 Shows board frequency ATI4 Shows board version ATI5 Shows radio parameters and the current settings. ATI6 Displays timing report of TDM ATI7 Displays signal report of RSSI ATO Exits from AT command mode ATS? Displays radio parameter indicated by index number “ “. “ “ needs to specify by a user, which is listed in output of command ATI5. ATS = Set radio parameter indexed by to “ “. “ “ and “ “ need to specify by a user. “ “ is listed in output of command ATI5. ATZ Reboots the radio module AT&W Writes the current parameters to EEPROM AT&F Resets all parameters to default factory settings AT&T=RSSI Enables debug reporting of RSSI AT&T=TDM Enables debug reporting of TDM AT&T Disables all debug reporting Table 5: AT Command Set for Radio Module on C94-M8P application board Index Parameter Name Description 1 SERIAL_SPEED Serial speed in “one byte form”, e.g. 19 corresponds to 19200 Bd configured for the C94-M8P board. 2 AIR_SPEED Air data rate in “one byte form”. Must be same for a pair of radios. 3 NETID Network ID. Must be same for the pair of C94-M8P boards. Must be same for a pair of radios. 4 TXPOWER Transmit power in dBm, maximum value is 20 dBm. 5 ECC Enables / disables the golay error correcting code. Must be same for a pair of radios. 6 MAVLINK Configure MAVLink framing and reporting, 0: no mavlink (default) 1: frame mavlink 2: low latency mavlink 8 MIN_FREQ Minimum frequency in kHz. Must be same for a pair of radios. 9 MAX_FREQ Maximum frequency in kHz. Must be same for a pair of radios. 10 NUM_CHANNELS Number of frequency hopping channels. Must be same for a pair of radios. 11 DUTY_CYCLE Percentage of time to allow transmit 12 LBT_RSSI Threshold of Listen Before Talk. Must be same for a pair of radios. 15 MAX_WINDOW Maximum transmitting window in milli seconds, default: 66 for low latency: 33 Must be same for a pair of radios. Table 6: Configurable radio parameters B.1 Serial console terminal installation Many serial console terminal programs are available, either as commercial software or from open source communities. In this user guide, the examples show the Putty terminal emulator running on Windows 7. Putty is an open source stand-alone application that runs on multiple operating systems. Download and uncompress the software package from http://www.putty.org, and then run the executable file. For more information about Putty, see http://www.putty.org. UBX-15031066 - R06 Advance Information Appendix Page 25 of 29 C94-M8P - User Guide C Notes on FW3.01 HPG1.30 Multiple Base stations sharing the same network ID is not supported. The Base station needs to be static. High multipath and poor or no groundplanes on the Base or Rover will prevent the Rover entering FIXED mode. Do not enable both MSM7 and MSM4 D Notes on hardware Users should be aware that the radio link latency of the C94 application board can extend up to 550 ms for a message content of 2 k bits. E.g. with MSM7 messages, this payload size would represent about 12 satellites, for instance 6 GPS and 6 GLO, which is a fairly typical scenario. Hence, update rates beyond 1 Hz should be contemplated carefully owing to the radio modem latency. In any event, the modem interface rate of 192009600 baud will present a hard limit depending on the number of satellites, e.g. approximately 4 Hz with 12 satellites. D.1 Variants -00 Variants using the old board version (C94-M8P-1-00, C94-M8P-2-00 and C94-M8P-3-00) have a different board layout than the C94P-M8P-X-10 versions. This chapter describes the C94P-M8P-X-10 versions and how they differ from the older versions. D.1.1 Overview There is no RF-shield attached on the top of the radio module and no plastic enclosure is attached on the top of the GNSS module. D.1.2 Connectors J6 J9 J10 J4 J3 J1 UBX-15031066 - R06 J1: RS232 – UART M8P/Radio J2: USB – M8P J3: External battery / DC connector J4: Interface to u-blox C027 J6: Debugger interface for radio module J8: Test & Production interface J9: Geofence and RTK status J10: Indicator LEDs J8 J2 Advance Information Appendix Page 26 of 29 C94-M8P - User Guide Figure 19: C94-M8P Application Board J9 connector The J9 connector is the monitor interface for the Geofence status and the RTK status, which correspond to pin 15 and pin 16 on the NEO-M8P-2 module. The pin assignments of this 2-pin connector are shown in Error! Reference source not found.. For more information, refer to the NEO-M8P Data Sheet [2]. Pin Nr. Assignment 1 GEOFENCE_STAT, monitor Geofence status 2 RTK_STA, monitor RTK status Table 7: Pin assignments of J9 J4 connector The J4 connector is the interface for connecting to u-blox C027 and other application boards. It enables communication alternatives using u-blox cellular and short-range technologies. The pin assignments of this 4-pin connector are shown in Error! Reference source not found.. For more details about C027, see https://www.ublox.com/product/c027. Pin Nr. Assignment 1 GND 2 TXD 3 RXD 4 3.3 v Table 8: Pin assignments of J4 LED There are four indicator LEDs mounted on the C94-M8P application board: The Blue LED shows the time pulse output signal from the NEO-M8P-2 module. The LED starts flashing one pulse per second during a GNSS fix. If there is no GNSS fix, the LED will light up without flashing. The Yellow LED indicates geofence status The Red LED flashes when the radio module is transmitting The Green LED blinks when radio module is ready to receive D.1.3 Dimensions Dimensions between screw holes on the old board are 69.6 and 48.2 mm. UBX-15031066 - R06 Advance Information Appendix Page 27 of 29 C94-M8P - User Guide Related documents [1] [2] u-blox 8 / u-blox M8 Receiver Description Including Protocol Specification (Public version), Docu. No. UBX13003221 NEO-M8P Data Sheet, Docu. No. UBX-15016656 [3] NEO-M8P Hardware Integration Manual, Docu. No. UBX-15028081 [4] [5] u-center User Guide, Docu. No. UBX-13005250 Protocol Specification Addendum for HPG1.30, Docu. No. UBX-16004304 [6] Achieving Centimeter Level Performance with Low Cost Antennas, Docu. No. UBX-16010559 For regular updates to u-blox documentation and to receive product change notifications, register on our homepage (http://www.u-blox.com) Revision history Revision Date Name Status / Comments R01 19-Feb-2016 yzha Advance Information R02 30-May-2016 jhak Restructuring chapters, more details on Base/Rover configuration, FW3.01 HPG1.11 related information R03 19-Aug-2016 jhak Updated package contents, more details on GNSS antenna considerations and setting up RTCM messages R04 14-Oct-2016 jhak HPG1.20 update. Added chapter D Notes on Hardware R05 08-Dec-2016 jhak HPG1.30 update. Merged all variants into one user guide R06 01-Feb-2017 jhak Updated board layout picture and radio settings UBX-15031066 - R06 Advance Information Appendix Page 28 of 29 C94-M8P - User Guide Contact For complete contact information, visit us at www.u-blox.com u-blox Offices North, Central and South America u-blox America, Inc. Phone: +1 703 483 3180 E-mail: info_us@u-blox.com Regional Office West Coast: Phone: +1 408 573 3640 E-mail: info_us@u-blox.com Headquarters Europe, Middle East, Africa u-blox AG Phone: +41 44 722 74 44 E-mail: info@u-blox.com Support: support@u-blox.com Technical Support: Phone: E-mail: +1 703 483 3185 support_us@u-blox.com Asia, Australia, Pacific u-blox Singapore Pte. Ltd. Phone: +65 6734 3811 E-mail: info_ap@u-blox.com Support: support_ap@u-blox.com Regional Office Australia: Phone: +61 2 8448 2016 E-mail: info_anz@u-blox.com Support: support_ap@u-blox.com Regional 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: E-mail: Support: +86 23 6815 1588 info_cn@u-blox.com support_cn@u-blox.com Regional Office China (Shanghai): Phone: E-mail: Support: +86 21 6090 4832 info_cn@u-blox.com support_cn@u-blox.com Regional Office China (Shenzhen): Phone: +86 755 8627 1083 E-mail: info_cn@u-blox.com Support: support_cn@u-blox.com Regional Office India: Phone: +91 80 4050 9200 E-mail: info_in@u-blox.com Support: support_in@u-blox.com Regional Office Japan (Osaka): Phone: +81 6 6941 3660 E-mail: info_jp@u-blox.com Support: support_jp@u-blox.com Regional Office Japan (Tokyo): Phone: +81 3 5775 3850 E-mail: info_jp@u-blox.com Support: support_jp@u-blox.com Regional Office Korea: Phone: +82 2 542 0861 E-mail: info_kr@u-blox.com Support: support_kr@u-blox.com Regional Office Taiwan: Phone: +886 2 2657 1090 E-mail: info_tw@u-blox.com Support: support_tw@u-blox.com UBX-15031066 - R06 Advance Information Contact Page 29 of 29
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