C099-F9P

Application board (rev. E)

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)
Document type User guide
Document number UBX-18063024
Revision and date R15 28-Apr-2022
Disclosure restriction C1-Public

This document applies to the following products:

Product name Type numbers PCN reference Product status
C099-F9P C099-F9P-0-03 N/A Mass production
C099-F9P-1-03

It is recommended to check the ZED-F9P firmware version on the C099-F9P Application board, and
update to the last released version if needed, for more details on ZED-F9P firmware update
procedure see section 7.1.

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 limited 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
1 Introduction ............................................................................................................................................. 5
1.1 Package contents ....................................................................................................................................... 6
1.2 Additional sources of information ........................................................................................................... 6
2 C099-F9P quick start ........................................................................................................................... 7
2.1 Starting up ................................................................................................................................................... 7
3 C099-F9P description .......................................................................................................................... 9
3.1 Component overview .................................................................................................................................. 9
3.2 Component identification ......................................................................................................................... 9
ZED-F9P status LEDs ......................................................................................................................11
ODIN-W2 activity LED ......................................................................................................................12
4 Using 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
5 Rover operation using NTRIP .......................................................................................................... 18
5.1 PC hosting via u-center ............................................................................................................................18
5.2 Mobile hosting ...........................................................................................................................................19
6 Wireless communication .................................................................................................................. 20
6.1 Bluetooth pairing .......................................................................................................................................20
ODIN-W2 as the pairing responder ...............................................................................................20
ODIN-W2 as the pairing initiator ...................................................................................................20
6.2 Bluetooth serial port .................................................................................................................................20
Server SPP connection ....................................................................................................................21
Client SPP connection .....................................................................................................................21
6.3 Wi-Fi connectivity .....................................................................................................................................22
Wi-Fi access point and UDP server ...............................................................................................22
Wi-Fi Station and UDP Client .........................................................................................................24
6.4 Host UDP client..........................................................................................................................................24
Client UDP connection .....................................................................................................................24
6.5 Wireless link limitations ..........................................................................................................................25
Data throughput ...............................................................................................................................25
Link loss ..............................................................................................................................................25
Windows OS issues with Bluetooth SPP ......................................................................................25

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7 Firmware update ................................................................................................................................. 27

7.1 ZED-F9P firmware update ......................................................................................................................27
7.2 ODIN-W2 firmware update ......................................................................................................................30
Mbed OS 3 application firmware ...................................................................................................30
8 Arduino header connections ........................................................................................................... 31
Appendix ....................................................................................................................................................... 32
A Glossary ................................................................................................................................................. 32
B C099-F9P antenna specification ................................................................................................... 32
B.1 Wi-Fi/Bluetooth antenna specification ....................................................................................... 32
C ODIN-W2 firmware upload via JTAG ............................................................................................ 32
D Mechanical board dimensions ........................................................................................................ 33
E C099-F9P schematics ....................................................................................................................... 33
Related documents ................................................................................................................................... 34
Revision history .......................................................................................................................................... 34
Contact .......................................................................................................................................................... 35

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1 Introduction
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™ firmware1 tailored for C099-F9P use 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 5-12 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 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 provide 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.

1
The Mbed FW shall be used only with a C099-F9P kit.
2
S-center usage is not required nor supported by the CLI.
3
The 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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2 C099-F9P quick start

This section provides some quick steps to enable ZED-F9P operation before exploring the more
complex configurations described later.

USB port ZED-F9P LEDs ZED-F9P module ZED-RF connector

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.
• To power the board, connect the USB to a Windows PC. The FTDI and USB drivers are installed
automatically4 from 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
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 blinks 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 blinks in green.

4 For manual driver installation, check GNSS Sensor and VCP Device Driver User guide in Related documents

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• Eventually, the status changes to 3D/DGNSS/FIXED and the RTK LED shows a steady green light.

Figure 3: u-center showing a view of the ZED-F9P default operation

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3 C099-F9P description
3.1 Component overview
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 modules 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 in this section.

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GNSS antenna connector

Wi-Fi/Bluetooth antenna connector

ZED-F9P multi band GNSS RTK module

ODIN-W2 multi-radio module

J9 J3

J2, J3, J8, J9

Arduino Uno connectors

J2
J8

DC power jack

Battery connector

USB (ZED-F9P USB and UART,

ODIN-W2 UART ports)

Figure 5: Main components and USB ports

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ZED-F9P and ODIN-W2 reset button

ZED-F9P safeboot button

ODIN-W2 switch 0 interrupt button

ODIN-W2 activity LED

ODIN-W2 safeboot pins

GNSS LEDs: TP, RTK, Geofence

Battery charger LED

Battery incorrect polarity indicator

LED

Figure 6: Switches and LEDs

☞ The microSD card functionality is not supported by the currently released Mbed firmware for
ODIN-W2.

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’s RTK-STAT pin.
• At startup, 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 flashes 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. within 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.

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ZED-F9P time pulse LED

ZED-F9P RTK status LED

ZED-F9P Geofence status LED

Figure 7: ZED-F9P LEDs

ODIN-W2 activity LED

The ODIN-W2 module uses a multi-colored LED to show a 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 startup, Bluetooth radio initialized Green
Bluetooth serial port profile (SPP) connection Blue Connection initiated and accepted
created
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 startup. Requires the
safeboot jumper to be connected.

Table 1: ODIN-W2 Mbed FW LED activity states and colors

ODIN-W2 activity LED

Figure 8: ODIN-W2 activity LED position on C099-F9P board

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4 Using C099-F9P
The ZED-F9P module 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 5-12 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.

USB

DC power jack

Li-Po battery connector

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. There is a risk of fire if the advice is not followed.
⚠ Ensure correct polarity on the JST battery connector. If the polarity is incorrect, the incorrect
polarity LED is on. Due to the polarity protection feature, the supply rails are not 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 is charged from either the DC power source or the USB

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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.

Red battery charge LED

Orange battery incorrect

polarity indicator LED

Figure 11: Battery charge status LED

Non-wireless operation
For scenarios that require a non-wireless data link, ODIN-W2 can be disabled. To disable ODIN-W2,
connect the safeboot jumper, which forces ODIN-W2 into safeboot mode during device startup. See
Figure 6 to locate the safeboot pins.
On average, ODIN-W2 consumes less current when started in safeboot mode. In addition, 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.

SMA GNSS antenna connector

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 the antenna in the center of a metallic car
roof.

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Figure 13: The supplied GNSS multi-band antenna

4.3 User interfaces

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.

FTDI USB bridge

When the USB cable from the user’s PC is connected, a driver loads and sets up two virtual serial ports,
as shown below in Figure 14. Additionally, a further serial VCP is 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.

ZED-F9P and ODIN-W2

COM ports installed

Figure 14: Windows Device Manager COM port view

In addition, a third VCP is created corresponding to the ZED-F9P USB port. Windows 10 users see a
new VCP device in the Device Manager window when it loads a built-in driver. With older Windows
installations, a driver is loaded via Windows Update. In this case the device is 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.

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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].

Command line interface of ODIN-W2

The user controls the ODIN-W2 module through a command line interface (CLI) that 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 following terminal settings:

☞ Putty (Settings – Terminal)

o local echo force off
o implicit CR in every LF off
o implicit LF in every CR off

☞ Tera Term (Setup – Terminal)

o newline receive CR and transmit CR
o local echo disabled
o terminal 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, ODIN-W2 displays 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, 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 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>

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 restart of ODIN-W2, the factory default settings will be applied.

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5 Rover operation using NTRIP

This section shows how 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 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 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 that utilizes a 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 that forwards corrections received from a cellular or a
wireless network to the Bluetooth interface. In addition, the application logs the incoming NMEA
messages from 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 the 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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6 Wireless communication
6.1 Bluetooth pairing
Prior to operation, the user is requested to pair 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. ODIN-W2 can
be paired with one of two alternatives:
1. The host initiates, ODIN-W2 responds.
2. ODIN-W2 initiates, the host responds.

ODIN-W2 as the pairing responder

• Once you have verified that the terminal connection is available, use the following command to
make the ODIN-W2 visible and connectable: /bt_visible/run
• ODIN-W2 acknowledges a successful reception of the command and informs once it is ready to
respond to a pairing request.
• Next, perform a Bluetooth scan to find the C099-F9P board. Every C099-F9P has a predefined,
unique Bluetooth name in BT_C099-F9P_XYZW format as shown in Figure 22.

Figure 22: Windows 10 menu for adding a Bluetooth device

ODIN-W2 as the pairing initiator

• Enable Bluetooth visibility on the host device.
• Once you have verified a working CLI connection, use the following command to scan any nearby
Bluetooth devices: /bt_inquiry/run
• C099-F9P lists 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 C099-F9P has found the host device, the following command starts the pairing process:
/bt_bond/run <MAC address>
• ODIN-W2 waits until the user has accepted the pairing request on the host device. Note that the
pairing request fails 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 permanently store their exchanged link keys for future connections.

6.2 Bluetooth serial port

C099-F9P supports incoming and outgoing Bluetooth serial connections. To find the corresponding
Bluetooth COM ports, refer to Bluetooth options indicated in Figure 23.

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Figure 23: Bluetooth COM ports

Typically, Windows hosts automatically set the corresponding COM ports if the pairing process was
initiated at the host, as described in 6.1.1 ODIN-W2 as the pairing responder. Often, the user is
requested to add incoming and outgoing ports manually if the pairing process was initiated at C099-
F9P, as described in 6.1.2 ODIN-W2 as the pairing initiator.

Server SPP connection

• To use the server port (incoming port) on the host PC, connect to the incoming COM port in
u-center prior to the CLI command on the C099-F9P: /bt_sppcli/run <MAC address>
• After a successful connection, C099-F9P starts to stream data from ZED-F9P to the Bluetooth
COM port. Note that you can ignore the baud rate of the Bluetooth serial port on the host PC.

Client SPP connection

• To use the outgoing port (client port) on the host PC, set C099-F9P to server mode by issuing the
following command: /bt_visible/run
• After selecting the client port (outgoing port) in u-center, C099-F9P will be automatically
requested to open a data stream between ZED-F9P and the Bluetooth COM port. Note that
u-center has default COM port behavior resulting in connection failures or non-listed outgoing
Bluetooth COM ports. As a workaround, it is recommended to change the default COM port
enumeration in u-center as shown in Figure 24.

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Figure 24: u-center COM port enumeration

• To force C099-F9P to start in Bluetooth SPP server mode on the next device restart, use the
following CLI command: /mem_store/run bt 1
You can later revert to the default startup settings by erasing the memory content, which is described
in section 4.4.1 Revert to factory default.

6.3 Wi-Fi connectivity

C099-F9P can be operated in Wi-Fi mode to enable longer communication range, higher wireless link
throughput, and interconnection between base and rover boards. The on-board ZED-F9P and ODIN-
W2 modules are interconnected via I2C bus, as in the Bluetooth operation. Hence, ensure that the
desired ZED-F9P messages are enabled for the I2C interface.
Base Rover
Wi-Fi access point / UDP server ✔ ✔
Wi-Fi station / UDP client N/A ✔

Table 2: ODIN-W2 Wi-Fi modes

Wi-Fi access point and UDP server

The C099-F9P RTK base can be set to operate as a Wi-Fi access point and UDP server to deliver RTCM
corrections via a Wi-Fi link. For rover operation, C099-F9P can be configured either to Wi-Fi STA or
Wi-Fi AP mode. The latter configuration is suitable for a single rover connected to a u-center UDP
client. Refer to section 4.3.2 Command line interface of ODIN-W2 to see the required terminal settings
for the command line interface.

6.3.1.1 Base operation in Wi-Fi AP mode

Follow the steps below to configure ODIN-W2 in Wi-Fi AP mode and to redirect incoming rover data to
the ODIN-W2 UART1 port (remote logging) as depicted in Figure 25. The UART1 and USB ports on the
rover ZED-F9P remain as optional logging interfaces.

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1. Configure C099-F9P to Wi-Fi AP mode by using the CLI command in terminal:

/mem_store/run wifi_ap

2. Set the C099-F9P Wi-Fi and I2C interfaces to support base operation5:
/mem_store/run base

3. Restart C099-F9P to apply the Wi-Fi AP settings.

ODIN-W2 waits until a Wi-Fi STA (rover) connects to it before streaming any data over the
wireless link. See section 6.3.2.1 Rover operation in Wi-Fi STA mode for rover configurations.

4. Apply ZED-F9P base settings through u-center by connecting to the ZED-F9P UART 1 port.

Any RTCM messages sent over the Wi-Fi link shall be configured for the ZED-F9P I2C interface
as depicted in Figure 25.

Figure 25: Wi-Fi base and rover setup

6.3.1.2 Rover operation in Wi-Fi AP mode

To connect to a C099-F9P rover via a Wi-Fi link, follow the configuration steps below:
1. Configure C099-F9P to Wi-Fi AP mode by using the CLI command in terminal:
/mem_store/run wifi_ap

2. Set C099-F9P to operate as a rover:

/mem_store/run rover

3. Restart C099-F9P to apply the Wi-Fi AP settings.

4. Connect the host PC’s Wi-Fi to the Wi-Fi AP of C099-F9P:
“C099-F9P” is the default SSID
“123456789” is the default WPA2 passphrase

5 ZED-F9P I2C output port is enabled for RTCM messages. Disabled for UBX and NMEA protocols.

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Wi-Fi Station and UDP Client

6.3.2.1 Rover operation in Wi-Fi STA mode
Typically, the Wi-Fi STA mode is applicable when two C099-F9Ps (base and rover) interconnect via a
Wi-Fi link. Firstly, it is recommended to configure the base as instructed in section 6.3.1.1 Base
operation in Wi-Fi AP mode. Secondly, the rover C099-F9P is set up to function in Wi-Fi STA and rover
mode:
1. Configure C099-F9P to Wi-Fi STA mode by using the CLI command in terminal:
/mem_store/run wifi_sta

2. Set C099-F9P to operate as a rover:

/mem_store/run rover

3. Restart C099-F9P to apply the Wi-Fi STA settings.

4. The rover C099-F9P automatically connects to the C099-F9P base.
The AP and STA use the default pre-stored SSID “C099-F9P”. You can set a new SSID and read the
current SSID with the following commands:
1. Read the current SSID setting:
/wifi_getssid/run

2. Set and store a new SSID:

/wifi_setssid/run <your_SSID>

☞ Wi-Fi connectivity between base and rover requires a matching SSID.

6.4 Host UDP client

Client UDP connection
Follow these steps to start monitoring the ZED-F9P output and to feed in RTCM correction data:
1. Navigate to Receiver > Connection> Network Connection menu in u-center and connect to
C099-F9P via a UDP client socket:
udp://192.168.0.1:5555

2. After a successful UDP connection, the NTRIP connection can be started as described in section
5.1. RTCM messages are automatically forwarded to the active UDP socket by selecting the
Current connection option in the NTRIP menu.

Figure 26: UDP client connection

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6.5 Wireless link limitations

Data throughput
The system throughput of the Bluetooth and Wi-Fi links is dominated by the effective I2C and
Bluetooth SPP or Wi-Fi data rates, respectively. It is recommended to limit the average byte load from
ZED-F9P to 17 kB/sec. The following examples approximate the output load of the default
configuration of the ZED-F9P firmware:
• 1 Hz navigation rate: NMEA, UBX-NAV-RELPOSNED, UBX-NAV-PVT enabled < 2.4 kB/sec
• 5 Hz navigation rate: NMEA, UBX-NAV-RELPOSNED, UBX-RXM-RTCM enabled < 17 kB/sec
• 10 Hz navigation rate: NMEA, UBX-RXM-RTCM enabled < 14 kB/sec
ODIN-W2 outputs an error message when the I2C bus load is too high. In such situations, some
messages may get dropped. To avoid this, it is recommended to adjust the enabled messages in the
ZED-F9P I2C interface.

Link loss
6.5.2.1 Bluetooth Classic
During a Bluetooth transmission failure (red LED blinking), check the system for typical root causes:
• Bluetooth SPP COM port on the host device stalled or disconnected.
• Insufficient signal quality between the host device and C099-F9P.
Recover the system by restarting ODIN-W2. To do this, press the reset button.
If ZED-F9P is configured through a Bluetooth link, e.g. using UBX-CFG messages, it is recommended
to apply all configurations manually in u-center. Uploading a large configuration file may fail due to the
limited link bandwidth.

6.5.2.2 Wi-Fi 2.4 GHz

A Wi-Fi disconnection is reported by a CLI message from the ODIN-W2 UART1 interface and the LED
indication (yellow LED). If the disconnection is not intended, check the Wi-Fi interface on the host PC.
Wi-Fi channel congestion can be avoided by changing the Wi-Fi AP channel on C099-F9P. Typically,
channel congestion is experienced when the Wi-Fi connection indicators (e.g. LEDs) are OK but no
data is received. Use the following commands to set and read the current channel stored in the
ODIN-W2 RAM:
1. /wifi_setch/run <integer number 1-11>
2. /wifi_getch/run
Then, continue with the Wi-Fi connectivity settings, refer to section 6.3 Wi-Fi connectivity. Ensure
C099-F9P is restarted to apply the new channel.

Windows OS issues with Bluetooth SPP

There are some known issues with the Windows Bluetooth serial port profile (SPP) implementation
for Windows 7-10. The symptoms include the Bluetooth Virtual COM port not installing or
applications not connecting to the Bluetooth virtual COM port. In other
cases, Windows might crash or become unresponsive. This is not related
to the ODIN-W2 Bluetooth implementation that uses the Bluetooth
standard SPP.
A known industry fix is to not use the Windows Bluetooth stack and PC
Figure 27: ASUS USB-BT400
Bluetooth hardware. This is done by using a USB Bluetooth adapter that

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uses its own Bluetooth stack. A device that is known to work is the ASUS USB-BT400 (USB 2.0). Once
installed, use the Bluetooth virtual COM port assigned to this device and not the built-in Bluetooth
interface.

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7 Firmware update
This section shows how to update the GNSS and Wi-Fi/Bluetooth modules’ firmware, if required.
The board is delivered with the latest versions of firmware running on the ZED-F9P and ODIN-W2
modules. However, newer versions may become available during the lifetime of the product.

7.1 ZED-F9P firmware update

This section shows how to update the firmware and re-enable the configuration settings required for
C099-F9P. There are two possible serial communication channels to update ZED-F9P: the UART1 and
USB2.0 ports.
1. To update ZED-F9P, connect to u-center via USB to the COM port identified as ZED-F9P and poll
MON-VER to view the installed firmware: see Figure 14 for the Device Manager COM port view. To
download new firmware, follow the sequence detailed below.

Figure 28: MON-VER poll response for a ZED-F9P

2. To begin updating the firmware, select Tools > Firmware Update…

Figure 29: Selecting u-center Firmware Update mode

The following Firmware image update window appears:

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Figure 30: Selecting u-center Firmware image folder

3. At the top is the Firmware image file selection window. Click the button on the right of the window.
This allows you to select the folder and file. Select the new firmware image bin file.
4. Select Enter safeboot before update and Send training sequence. Select the Use this baudrate
for update option and select e.g. 460800 from the drop-down list. This is shown in Figure 31
below.

Figure 31: Setting the required baud rate, safeboot and training sequence options

5. Click the GO button in the bottom-left corner of the window to begin the download.

Figure 32: Click GO for firmware update

The firmware update progress is shown adjacent to the input window.

When programming is complete, the module starts up in a default configuration, in which the
ZED-F9P serial port is set to 38400 baud. Change this to 460800 baud to provide sufficient data
bandwidth and work correctly with the ODIN-W2 module. To make the baud rate change persistent,
make the selections shown in Figure 33.

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Figure 33: Setting ZED-F9P UART1 back to 460800 baud and saving it to flash memory

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7.2 ODIN-W2 firmware update

Users have a choice to run two distinct firmware variants in ODIN-W2. By factory default, the
ODIN-W2 module in C099-F9P runs dedicated Mbed application firmware.

Mbed OS 3 application firmware

The latest released binary is available via the u-blox GitHub repository:
https://github.com/u-blox/ublox-C099_F9P-mbed-3
You can update the firmware on ODIN-W2 with the following toolset:
• Through ODIN-W2 UART1 by using stm32flash.exe

1. It is recommended to download the stm32flash.exe command-line tool from the STM website or
from Sourceforge: https://sourceforge.net/projects/stm32flash/

2. Place the downloaded stm32flash executable in the same folder with the FW binary and check for
the correct ODIN-W2 COM port number in the Device Manager (Windows users).

3. To ensure no settings persist over the firmware versions, it is recommended to revert to factory
default before uploading new firmware. See section 4.4.1 Revert to factory default for
instructions.

4. Prior to firmware upload, ODIN-W2 must be started in safeboot mode. Proceed by placing a
safeboot jumper and reboot C099-F9P. The locations of the safeboot pin header and the reset
button are depicted in Figure 6. To confirm that ODIN-W2 started in safeboot mode, check that
the ODIN-W2 activity LED remains off. Use the following command structure in PowerShell or a
command prompt to start the firmware upload:
.\stm32flash.exe -b 115200 -w <c099mbed3.bin> -S 0x8000000 COM<port number>

5. To confirm a successful firmware upload, remove the safeboot jumper and restart the device. The
ODIN-W2 activity LED lights up.

Figure 34: Power shell capture of FW upload

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8 Arduino header connections

The board size and the four connectors comply with the Arduino R3/Uno mechanical specification.
The functions of each I/O align as much as possible to the Arduino-specified functions. Check the pin
functions and electrical compatibility before using the product with an Arduino R3/Uno - see Figure
36 below. All the pin functions besides power are 3.3 V compliant.

J9, Arduino D J3, Arduino B

J8, Arduino C J2, Arduino A

Figure 35: C099-F9P Arduino connectors

Figure 36: C099-F9P Arduino R3 connections

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Appendix
A Glossary
Abbreviation Definition
CLI Command-line interface
FW Firmware
LiPo Lithium polymer
NTRIP Networked transport of RTCM via internet protocol
NVDS Non-volatile data storage
RTK Real time kinematic
UART Universal asynchronous receiver transmitter
UDP User datagram protocol
USB Universal serial bus
UTC Coordinated universal time
VCP Virtual COM port
Wi-Fi AP Wi-Fi access point
Wi-Fi STA Wi-Fi station

Table 3: Explanation of the abbreviations and terms used

B C099-F9P antenna specification

B.1 Wi-Fi/Bluetooth antenna specification
EX-IT WLAN RPSMA / Ex-IT WLAN SMA
Manufacturer ProAnt
Type ½ wave dipole dual-band antenna
Polarization Vertical
Gain +3 dBi
Impedance 50 Ω
Size 107 mm (straight)
Type Monopole
Connector • Reverse polarity SMA plug (inner thread and pin receptacle)
• SMA plug (inner thread and pin)
Comment To be mounted on the U.FL to SMA or reverse polarity SMA adapter cable
Approval FCC, IC, RED, MIC, NCC, KCC*, ANATEL, and ICASA

Table 4: Wi-Fi/Bluetooth antenna

☞ The variant included in the C099-F9P kit has an SMA connector and has to be mounted on the
corresponding antenna connector of the C099-F9P board if you wish to use Wi-Fi or Bluetooth
connectivity.

C ODIN-W2 firmware upload via JTAG

ODIN-W2 firmware can be uploaded through the 10-pin JTAG connector by using the STM Link Utility
software and ST LINK V2 debugger device. STM Link Utility software can be found on
https://www.st.com/en/development-tools/stsw-link004.html
Check the availability of the ST LINK V2 debugger device with local STM distributors.

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D Mechanical board dimensions

Figure 37: C099-F9P rev. E dimensions

E C099-F9P schematics
C099-F9P evaluation board schematics, UBX-22008807

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Related documents
[1] ZED-F9P Integration manual, UBX-18010802
[2] HPG 1.32 Interface description, UBX-22008968
[3] u-center User guide, UBX-13005250
[4] u-blox GNSS Sensor and VCP Device Driver User guide, UBX-15022397
[5] ANN-MB series multi-band GNSS antennas Data sheet, UBX-18049862

☞ For regular updates to u-blox documentation and to receive product change notifications, register
on our homepage (www.u-blox.com).

Revision history
Revision Date Name Comments
R01 10-Jul-2018 ghun/byou Initial release
R02 19-Oct-2018 byou Updates for the C099-F9P rev. B board revision.
R03 8-Nov-2018 olep Updates for Mbed3 FW in ODIN-W2
R04 1-Feb-2019 olep Updates for Wi-Fi and NVDS features in ODIN-W2
R05 21-Feb-2019 olep Updated Arduino J9 schematics. Polarity requirement of the battery
connector.
R06 29-Mar-2019 olep Updates for Wi-Fi AP and STA operation
R07 23-May-2019 olep Editorial changes
R08 11-June-2019 olep Updates on Wi-Fi base instructions.
R09 25-Sep-2019 jhak/jjus Added instructions for non-wireless operation.
Updates for the C099-F9P rev. C board revision
R10 12-Nov-2019 jhak Updates for the C099-F9P rev. E board revision.
Connectivity SW renamed to u-connectXpress
R11 5-Dec-2019 mala Improved the quality of the schematic drawings.
R12 29-June 2020 ghun Update for HPG 1.13
R13 13-Aug-2021 dbhu Changed DC source from 6-12 V to 5-12 V.
R14 23-Mar-2022 dbhu Corrected figure 6 for ODIN-W2 safeboot pins.
Updates for HPG 1.30 and schematics.
R15 28-Apr-2022 angi Update title and Document information section

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Contact
For complete contact information, visit us at www.u-blox.com.
u-blox Offices

North, Central and South America Headquarters Asia, Australia, Pacific

Europe, Middle East, Africa
u-blox America, Inc. u-blox Singapore Pte. Ltd.
Phone: +1 703 483 3180 u-blox AG Phone: +65 6734 3811
E-mail: [email protected] Phone: +41 44 722 74 44 E-mail: [email protected]
E-mail: [email protected] Support: [email protected]
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Support: [email protected]
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