ZED-F9K-00B

 ZED-F9K-00B u-blox F9 high precision automotive DR GNSS receiver Data sheet Abstract This data sheet describes the ZED-F9K high precision module with 3D sensors and a multi-band GNSS receiver. The module provides laneaccurate positioning under the most challenging conditions, decimeterlevel accuracy for automotive mass markets, and it is ideal for ADAS, V2X and head-up display. It provides a low-risk multi-band RTK turnkey solution with built-in inertial sensors and lag-free displays with up to 30 Hz real-time position update rate. www.u-blox.com UBX-17061422 - R06 C1-Public Downloaded From Oneyac.com ZED-F9K-00B - Data sheet Document information Title ZED-F9K-00B Subtitle u-blox F9 high precision automotive DR GNSS receiver Document type Data sheet Document number UBX-17061422 Revision and date R06 Disclosure restriction C1-Public 24-Aug-2021 Product status Corresponding content status In development / prototype Objective specification Target values. Revised and supplementary data will be published later. Engineering sample Advance information Data based on early testing. Revised and supplementary data will be published later. Initial production Early production information Data from product verification. Revised and supplementary data may be published later. Mass production / End of life Production information Document contains the final product specification. This document applies to the following products: Product name Type number Firmware version PCN reference Product status ZED-F9K ZED-F9K-00B-02 LAP 1.20 - Advance information 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 © 2021, u-blox AG. UBX-17061422 - R06 C1-Public Page 2 of 26   Downloaded From Oneyac.com ZED-F9K-00B - Data sheet Contents 1 Functional description......................................................................................................... 4 1.1 Overview.................................................................................................................................................... 4 1.2 Performance............................................................................................................................................. 4 1.3 Supported GNSS constellations.......................................................................................................... 6 1.4 Supported GNSS augmentation systems......................................................................................... 6 1.4.1 Quasi-Zenith Satellite System (QZSS)...................................................................................... 6 1.4.2 Satellite based augmentation system (SBAS)........................................................................ 7 1.4.3 Differential GNSS (DGNSS).......................................................................................................... 7 1.5 Broadcast navigation data and satellite signal measurements................................................... 8 1.5.1 Carrier-phase measurements......................................................................................................8 1.6 Supported protocols............................................................................................................................... 8 1.7 Automotive dead reckoning.................................................................................................................. 8 2 System description............................................................................................................ 10 2.1 Block diagram........................................................................................................................................ 10 3 Pin definition.........................................................................................................................11 3.1 Pin assignment......................................................................................................................................11 4 Electrical specification...................................................................................................... 14 4.1 Absolute maximum ratings................................................................................................................ 14 4.2 Operating conditions............................................................................................................................14 4.3 Indicative power requirements...........................................................................................................15 5 Communications interfaces.............................................................................................16 5.1 UART........................................................................................................................................................16 5.2 SPI............................................................................................................................................................ 16 5.3 I2C............................................................................................................................................................ 17 5.4 USB.......................................................................................................................................................... 19 5.5 WT (wheel tick) and DIR (forward/reverse indication).................................................................. 19 5.6 Default interface settings...................................................................................................................19 6 Mechanical specification.................................................................................................. 21 7 Reliability tests and approvals....................................................................................... 22 7.1 Approvals................................................................................................................................................ 22 8 Labeling and ordering information................................................................................ 23 8.1 Product labeling.................................................................................................................................... 23 8.2 Explanation of product codes............................................................................................................ 23 8.3 Ordering codes...................................................................................................................................... 23 Related documents................................................................................................................ 24 Revision history....................................................................................................................... 25 UBX-17061422 - R06 C1-Public Contents   Downloaded From Oneyac.com Page 3 of 26 ZED-F9K-00B - Data sheet 1 Functional description 1.1 Overview The ZED-F9K-00B module features the u-blox F9 multi-band L1/L2 GNSS receiver with rapid convergence time within seconds. This mass-market component provides decimeter-level positioning with high availability, while making use of all four GNSS constellations simultaneously. It is the first dead reckoning module with an integrated Inertial Measurement Unit (IMU) capable of high precision positioning. The sophisticated built-in algorithms fuse the IMU data, GNSS measurements, wheel ticks, and vehicle dynamics model to provide lane-accurate positioning where GNSS alone would fail. The module operates under open-sky motorways, in the wooded countryside, in difficult urban environments, and even in tunnels and underground parking. In modern automotive applications, such as advanced driver assistance system (ADAS) where availability can improve the safety of our roads, ZED-F9K-00B is the ultimate solution. The device is a turnkey solution eliminating the technical risk of integrating third-party libraries, precise positioning engines, and the multi-faceted hardware engineering aspects of radio frequency design and digital design. The u-blox approach provides a transparent evaluation of the positioning solution and clear lines of responsibility for design support while reducing supply chain complexity during production. ZED-F9K-00B is ideal for innovative automotive architecture designs with limited space and power. The module provides accurate location services to the increasing number of intelligent electronic control units (ECU) such as telematics control unit, navigation system, infotainment and V2X safety systems. In priority navigation mode the module reaches a navigation rate of up to 30 Hz. The on-board processor augments fused GNSS position with additional IMU-based position estimates. Drivers experience responsive, lag-free user interfaces. ZED-F9K-00B can output raw IMU and raw GNSS data for advanced applications. ZED-F9K-00B modules are manufactured in ISO/TS 16949 certified sites and are fully tested on a system level. Qualification tests are performed as stipulated in the ISO 16750 standard: “Road vehicles–Environmental conditions and testing for electrical and electronic equipment”. 1.2 Performance Parameter Specification Receiver type Multi-band high precision DR GNSS receiver Accuracy of time pulse signal RMS 99% 30 ns 60 ns Frequency of time pulse signal 0.25 Hz to 10 MHz (configurable) Operational limits1 Dynamics ≤4g Altitude 80,000 m 500 m/s Velocity Position error during GNSS loss2 3D Gyro + 3D accelerometer + speed 2% pulse 1 Assuming airborne 4 g platform, not supported by ADR 2 68% error incurred without GNSS as a percentage of distance of traveled 3000 m, applicable to four-wheel road vehicle UBX-17061422 - R06 C1-Public 1 Functional description   Downloaded From Oneyac.com Page 4 of 26 ZED-F9K-00B - Data sheet Parameter Specification Max navigation update rate (RTK) 3 Priority navigation mode 30 Hz Non-priority navigation mode 2 Hz Velocity accuracy4 0.05 m/s Dynamic attitude accuracy4 Navigation latency 4 Heading 0.2 deg Pitch 0.3 deg Roll 0.5 deg Priority navigation mode 15 ms Max sensor measurement output rate 100 Hz GPS+GLO+GAL +BDS GPS+GLO+GAL GPS+GAL GPS+GLO BDS+GLO Cold start 26 s 25 s 30 s 25 s 28 s Hot start 2s 2s 2s 2s 2s Aided starts 3s 3s 3s 3s 3s RTK ≤ 10 s ≤ 10 s ≤ 10 s ≤ 10 s ≤ 30 s Tracking and nav. -160 dBm -160 dBm -160 dBm -160 dBm -160 dBm Reacquisition -157 dBm -157 dBm -157 dBm -157 dBm -157 dBm Cold start -147 dBm -147 dBm -147 dBm -147 dBm -145 dBm Hot start -158 dBm -158 dBm -158 dBm -158 dBm -158 dBm Position accuracy Along track 0.20 m 0.20 m 0.25 m 0.25 m 0.60 m RTK7 11 Cross track 0.20 m 0.20 m 0.25 m 0.25 m 0.60 m 2D CEP 0.30 m 0.30 m 0.40 m 0.40 m 0.85 m Vertical 0.30 m 0.30 m 0.40 m 0.40 m 1.00 m GNSS Acquisition5 6 Re-convergence time7 8 Sensitivity9 10 Table 1: ZED-F9K-00B performance in different GNSS modes GNSS Acquisition 5 Sensitivity9 10 11 Position accuracy RTK GPS GLONASS BEIDOU GALILEO Cold start 30 s 28 s 40 s - Hot start 2s 2s 2s - Aided start6 3s 3s 3s - Tracking and nav. -158 dBm -158 dBm -158 dBm -156 dBm Reacquisition -157 dBm -155 dBm -157 dBm -153 dBm Cold start -147 dBm -147 dBm -141 dBm -137 dBm Hot start -158 dBm -157 dBm -158 dBm -155 dBm 2D CEP 0.80 m 1.00 m - 1.50 m Vertical 1.00 m 1.50 m - 2.00 m Table 2: ZED-F9K-00B performance in single-GNSS modes 3 Rates with SBAS and QZSS enabled for > 98% fix report rate under typical conditions 4 68% at 30 m/s for dynamic operation 5 All satellites at -130 dBm 6 Dependent on the speed and latency of the aiding data connection, commanded starts 7 8 68% depending on atmospheric conditions, baseline length, GNSS antenna, multipath conditions, satellite visibility and geometry Time to ambiguity fix after 20 s outage 9 Demonstrated with a good external LNA 10 Configured min C/N0 of 6 dB/Hz, limited by FW with min C/N0 of 20 dB/Hz for best performance 11 Measured using 1 km baseline and patch antennas with good ground planes. Does not account for possible antenna phase center offset errors. UBX-17061422 - R06 C1-Public 1 Functional description   Downloaded From Oneyac.com Page 5 of 26 ZED-F9K-00B - Data sheet 1.3 Supported GNSS constellations The ZED-F9K-00B GNSS modules are concurrent GNSS receivers that can receive and track multiple GNSS constellations. Owing to the multi-band RF front-end architecture, all four major GNSS constellations (GPS, GLONASS, Galileo and BeiDou) plus SBAS and QZSS satellites can be received concurrently. All satellites in view can be processed to provide an RTK navigation solution when used with correction data. If power consumption is a key factor, the receiver can be configured for a subset of GNSS constellations. All satellites in view can be processed to provide an RTK navigation solution when used with correction data; the highest positioning accuracy will be achieved when the receiver is tracking signals on both bands from multiple satellites, and is provided with corresponding correction data. The QZSS system shares the same frequency bands as GPS and can only be processed in conjunction with GPS. To take advantage of multi-band signal reception, dedicated hardware preparation must be made during the design-in phase. See the Integration manual [1] for u-blox design recommendations. The ZED-F9K-00B supports the GNSS and their signals as shown in Table 3. GPS / QZSS GLONASS Galileo BeiDou L1C/A (1575.420 MHz) L1OF (1602 MHz + k*562.5 kHz, k = –7,..., 5, 6) E1-B/C (1575.420 MHz) B1I (1561.098 MHz) L2C (1227.600 MHz) L2OF (1246 MHz + k*437.5 kHz, k = –7,..., 5, 6) E5b (1207.140 MHz) B2I (1207.140 MHz) Table 3: Supported GNSS and signals on ZED-F9K-00B The following GNSS assistance services can be activated on ZED-F9K-00B: AssistNow™ Online AssistNow™ Offline AssistNow™ Autonomous Supported - - Table 4: Supported Assisted GNSS (A-GNSS) services ZED-F9K-00B supports the following augmentation systems: SBAS QZSS IMES Differential GNSS EGNOS, GAGAN, WAAS and MSAS supported Supported Not supported RTCM 3.3 Table 5: Supported augmentation systems of ZED-F9K-00B The augmentation systems SBAS and QZSS can be enabled only if GPS operation is also enabled. 1.4 Supported GNSS augmentation systems 1.4.1 Quasi-Zenith Satellite System (QZSS) The Quasi-Zenith Satellite System (QZSS) is a regional navigation satellite system that provides positioning services for the Pacific region covering Japan and Australia. The ZED-F9K-00B is able to receive and track QZSS L1 C/A and L2C signals concurrently with GPS signals, resulting in better availability especially under challenging signal conditions, e.g. in urban canyons. The ZED-F9K-00B is also able to receive the QZSS L1S signal in order to use the SLAS (Sub-meter Level Augmentation Service) which is an augmentation technology that provides correction data for pseudoranges. Ground monitoring stations positioned in Japan calculate independent corrections UBX-17061422 - R06 C1-Public 1 Functional description   Downloaded From Oneyac.com Page 6 of 26 ZED-F9K-00B - Data sheet for each visible satellite and broadcast this data to the user via QZSS satellites. The correction stream is transmitted on the L1 frequency (1575.42 MHz). QZSS can be enabled only if GPS operation is also configured. 1.4.2 Satellite based augmentation system (SBAS) The ZED-F9K-00B optionally supports SBAS (including WAAS in the US, EGNOS in Europe, MSAS in Japan and GAGAN in India) to deliver improved location accuracy within the regions covered. However, the additional inter-standard time calibration step used during SBAS reception results in degraded time accuracy overall. SBAS reception is enabled by default in ZED-F9K-00B. 1.4.3 Differential GNSS (DGNSS) When operating in RTK mode, RTCM version 3.3 messages are required and the module supports DGNSS according to RTCM 10403.3. ZED-F9K-00B can decode the following RTCM 3.3 messages: Message type Description RTCM 1001 L1-only GPS RTK observables RTCM 1002 Extended L1-only GPS RTK observables RTCM 1003 L1/L2 GPS RTK observables RTCM 1004 Extended L1/L2 GPS RTK observables RTCM 1005 Stationary RTK reference station ARP RTCM 1006 Stationary RTK reference station ARP with antenna height RTCM 1007 Antenna descriptor RTCM 1009 L1-only GLONASS RTK observables RTCM 1010 Extended L1-only GLONASS RTK observables RTCM 1011 L1/L2 GLONASS RTK observables RTCM 1012 Extended L1/L2 GLONASS RTK observables RTCM 1033 Receiver and antenna description RTCM 1074 GPS MSM4 RTCM 1075 GPS MSM5 RTCM 1077 GPS MSM7 RTCM 1084 GLONASS MSM4 RTCM 1085 GLONASS MSM5 RTCM 1087 GLONASS MSM7 RTCM 1094 Galileo MSM4 RTCM 1095 Galileo MSM5 RTCM 1097 Galileo MSM7 RTCM 1124 BeiDou MSM4 RTCM 1125 BeiDou MSM5 RTCM 1127 BeiDou MSM7 RTCM 1230 GLONASS code-phase biases Table 6: Supported input RTCM 3.3 messages UBX-17061422 - R06 C1-Public 1 Functional description   Downloaded From Oneyac.com Page 7 of 26 ZED-F9K-00B - Data sheet 1.5 Broadcast navigation data and satellite signal measurements The ZED-F9K-00B can output all the GNSS broadcast data upon reception from tracked satellites. This includes all the supported GNSS signals plus the augmentation service QZSS. The UBXRXM-SFRBX message contains this information. The receiver also makes available the tracked satellite signal information, i.e. raw code phase and Doppler measurements, in a form aligned to the Radio Resource LCS Protocol (RRLP) [3]. For the UBX-RXM-SFRBX message specification, see the interface description [2]. 1.5.1 Carrier-phase measurements The ZED-F9K-00B modules provide raw carrier-phase data for all supported signals, along with pseudorange, Doppler and measurement quality information. The data contained in the UBX-RXMRAWX message follows the conventions of a multi-GNSS RINEX 3 observation file. For the UBXRXM-RAWX message specification, see interface description [2]. Raw measurement data are available once the receiver has established data bit synchronization and time-of-week. Only available with an optional license for an additional cost. 1.6 Supported protocols The ZED-F9K-00B supports the following protocols: Protocol Type UBX Input/output, binary, u-blox proprietary NMEA 4.11, 4.10 (default), 4.0, 2.3, and 2.1 Input/output, ASCII RTCM 3.3 Input, binary Table 7: Supported protocols For specification of the protocols, see the interface description [2]. 1.7 Automotive dead reckoning u-blox’s proprietary automotive dead reckoning (ADR) solution uses a 3D inertial measurement unit (IMU) included within the module, and speed pulses from the vehicle’s wheel tick (WT) sensor. Alternatively, the vehicle speed data can be provided as messages via a serial interface. Sensor data and GNSS signals are processed together, achieving 100% coverage, with highly accurate and continuous positioning even in GNSS-hostile environments (for example, urban canyons) or in case of GNSS signal absence (for example, tunnels and parking garages). WT or speed sensor rate variations and the 3D IMU sensors are calibrated automatically and continuously by the module, accommodating automatically to, for example, vehicle tire wear. For more details, see the Integration manual [1]. The ZED-F9K-00B combines GNSS and dead reckoning measurements and computes a position solution at rates of up to 2 Hz with non-priority navigation mode. In priority navigation mode the navigation rate can be increased using IMU-only data to deliver accurate, low-latency position measurements at rates up to 30 Hz. These solutions are reported in standard NMEA, UBX-NAV-PVT and similar messages. The ZED-F9K-00B will work optimally in priority navigation mode when the IMU and WT sensors are calibrated, and the alignment angles are correct. UBX-17061422 - R06 C1-Public 1 Functional description   Downloaded From Oneyac.com Page 8 of 26 ZED-F9K-00B - Data sheet Dead reckoning allows navigation to commence as soon as power is applied to the module (that is, before a GNSS fix has been established) under the following conditions: • The vehicle has not been moved while the module has been switched off. • At least a dead reckoning fix was available when the vehicle was last used. • A backup supply has been available for the module since the vehicle was last used. The save-on-shutdown feature can be used when no backup supply is available. All information necessary will be saved to the flash and read from the flash upon restart. UBX-17061422 - R06 C1-Public 1 Functional description   Downloaded From Oneyac.com Page 9 of 26 ZED-F9K-00B - Data sheet 2 System description 2.1 Block diagram Figure 1: ZED-F9K-00B block diagram UBX-17061422 - R06 C1-Public 2 System description   Downloaded From Oneyac.com Page 10 of 26 ZED-F9K-00B - Data sheet 3 Pin definition 3.1 Pin assignment The pin assignment of the ZED-F9K-00B module is shown in Figure 2. The defined configuration of the PIOs is listed in Table 8. The ZED-F9K-00B is an LGA package with the I/O on the outside edge and central ground pads. Figure 2: ZED-F9K-00B pin assignment Pin no. Name I/O Description 1 GND - Ground 2 RF_IN I RF input 3 GND - Ground 4 ANT_DETECT I Active antenna detect 5 ANT_OFF O External LNA disable 6 ANT_SHORT_N I Active antenna short detect 7 VCC_RF O Voltage for external LNA 8 Reserved - Reserved 9 Reserved - Reserved 10 Reserved - Reserved UBX-17061422 - R06 C1-Public 3 Pin definition   Downloaded From Oneyac.com Page 11 of 26 ZED-F9K-00B - Data sheet Pin no. Name I/O Description 11 Reserved - Reserved 12 GND - Ground 13 Reserved - Reserved 14 GND - Ground 15 Reserved - Reserved 16 Reserved - Reserved 17 Reserved - Reserved 18 Reserved - Reserved 19 GEOFENCE_STAT O Geofence status, user defined 20 RTK_STAT O RTK status 0 – fixed, blinking – receiving and using corrections, 1 – no corrections 21 Reserved - Reserved 22 WT I Wheel ticks 23 DIR I Direction 24 Reserved - Reserved 25 Reserved - Reserved 26 RXD2 I Correction UART input 27 TXD2 O Correction UART output 28 Reserved - Reserved 29 Reserved - Reserved 30 Reserved - Reserved 31 Reserved - Reserved 32 GND - Ground 33 VCC I Voltage supply 34 VCC I Voltage supply 35 Reserved - Reserved 36 V_BCKP I Backup supply voltage 37 GND - Ground 38 V_USB I USB power input 39 USB_DM I/O USB data 40 USB_DP I/O USB data 41 GND - Ground 42 TXD / SPI_MISO O Serial port if D_SEL =1(or open). SPI MISO if D_SEL = 0 43 RXD / SPI_MOSI I Serial port if D_SEL =1(or open). SPI MOSI if D_SEL = 0 44 SDA / SPI_CS_N I/O I2C data if D_SEL =1 (or open). SPI chip select if D_SEL = 0 45 SCL / SPI_CLK I/O I2C Clock if D_SEL =1(or open). SPI clock if D_SEL = 0 46 TX_READY O TX_Buffer full and ready for TX of data 47 D_SEL I Interface select 48 GND - Ground 49 RESET_N I RESET_N 50 SAFEBOOT_N I SAFEBOOT_N (for future service, updates and reconfiguration, leave OPEN) 51 EXT_INT I External interrupt pin 52 Reserved - Reserved 53 TIMEPULSE O Time pulse UBX-17061422 - R06 C1-Public 3 Pin definition   Downloaded From Oneyac.com Page 12 of 26 ZED-F9K-00B - Data sheet Pin no. Name I/O Description 54 Reserved - Reserved Table 8: ZED-F9K-00B pin assignment UBX-17061422 - R06 C1-Public 3 Pin definition   Downloaded From Oneyac.com Page 13 of 26 ZED-F9K-00B - Data sheet 4 Electrical specification The limiting values given are in accordance with the Absolute Maximum Rating System (IEC 134). Stress above one or more of the limiting values may cause permanent damage to the device. These are stress ratings only. Operation of the device at these or at any other conditions above those given below is not implied. Exposure to limiting values for extended periods may affect device reliability. Where application information is given, it is advisory only and does not form part of the specification. 4.1 Absolute maximum ratings Parameter Symbol Power supply voltage VCC Condition 12 Voltage ramp on VCC Backup battery voltage V_BCKP Max Units -0.5 3.6 V 20 8000 µs/V -0.5 3.6 V 20 12 Voltage ramp on V_BCKP Input pin voltage Min Vin µs/V VCC ≤ 3.1 V -0.5 VCC + 0.5 V VCC > 3.1 V -0.5 3.6 V DC current through any digital I/O pin Ipin (except supplies) TBD mA VCC_RF output current ICC_RF 100 mA Supply voltage USB V_USB –0.5 3.6 V USB signals USB_DM, USB_DP -0.5 V_USB + 0.5 V Input power at RF_IN Prfin Storage temperature Tstg source impedance = 50 Ω, continuous wave -40 10 dBm +85 °C Table 9: Absolute maximum ratings The product is not protected against overvoltage or reversed voltages. Voltage spikes exceeding the power supply voltage specification, given in the table above, must be limited to values within the specified boundaries by using appropriate protection diodes. 4.2 Operating conditions All specifications are at an ambient temperature of 25 °C. Extreme operating temperatures can significantly impact the specification values. Applications operating near the temperature limits should be tested to ensure the specification. Parameter Symbol Min Typical Max Units Power supply voltage VCC 2.7 3.0 3.6 V Backup battery voltage V_BCKP 1.65 3.6 V Backup battery current I_BCKP 36 µA SW backup current I_SWBCKP 1.5 mA Input pin voltage range Vin Digital IO pin low level input voltage Vil 12 0 VCC V 0.4 V Condition V_BCKP = 3 V, VCC = 0 V Exceeding the ramp speed may permanently damage the device UBX-17061422 - R06 C1-Public 4 Electrical specification   Downloaded From Oneyac.com Page 14 of 26 ZED-F9K-00B - Data sheet Parameter Symbol Min Digital IO pin high level input voltage Vih 0.8 * VCC Typical 0.4 Digital IO pin high level output voltage Voh VCC_RF output current Receiver chain noise figure VCC – 0.4 VCC_RF VCC - 0.1 ICC_RF 13 Ext_gain 17 Operating temperature Topr -40 +25 V Iol = 2 mA V Ioh = 2 mA mA 9.5 External gain (at RF_IN) Condition V 50 NFtot Units V Digital IO pin low level output voltage Vol VCC_RF voltage Max dB 50 dB 85 °C Table 10: Operating conditions Operation beyond the specified operating conditions can affect device reliability. 4.3 Indicative power requirements Table 11 lists examples of the total system supply current including RF and baseband section for a possible application. Values in Table 11 are provided for customer information only, as an example of typical current requirements. The values are characterized on samples by using a cold start command. Actual power requirements can vary depending on FW version used, external circuitry, number of satellites tracked, signal strength, type and time of start, duration, and conditions of test. Symbol Parameter Conditions GPS+GLO GPS +GAL+BDS Unit IPEAK Peak current Acquisition 130 120 mA IVCC14 VCC current Acquisition 90 75 mA Isupply14 Supply current Tracking 85 68 mA Table 11: Currents to calculate the indicative power requirements All values in Table 11 are measured at 25 °C ambient temperature. 13 Only valid for the GPS 14 Simulated GNSS signal UBX-17061422 - R06 C1-Public 4 Electrical specification   Downloaded From Oneyac.com Page 15 of 26 ZED-F9K-00B - Data sheet 5 Communications interfaces There are several communications interfaces including UART, SPI, I2C15 and USB. All the inputs have internal pull-up resistors in normal operation and can be left open if not used. All the PIOs are supplied by VCC, therefore all the voltage levels of the PIO pins are related to VCC supply voltage. 5.1 UART The UART interfaces support configurable baud rates. See the Integration manual [1]. Hardware flow control is not supported. UART1 is the primary host communications interface while UART2 is dedicated for RTCM 3.3 corrections and NMEA. No UBX protocol is supported on UART 2. The UART1 is enabled if D_SEL pin of the module is left open or "high". Symbol Parameter Min Max Unit Ru Baud rate 9600 921600 bit/s ΔTx Tx baud rate accuracy -1% +1% - ΔRx Rx baud rate tolerance -2.5% +2.5% - Table 12: ZED-F9K-00B UART specifications 5.2 SPI The ZED-F9K-00B has an SPI slave interface that can be selected by setting D_SEL = 0. The SPI slave interface is shared with UART1 and I2C pins. The SPI pins available are: • SPI_MISO (TXD) • SPI_MOSI (RXD) • SPI_CS_N • SPI_CLK The SPI interface is designed to allow communication to a host CPU. The interface can be operated in slave mode only. Note that SPI is not available in the default configuration because its pins are shared with the UART and I2C interfaces. The maximum transfer rate using SPI is 125 kB/s and the maximum SPI clock frequency is 5.5 MHz. This section provides SPI timing values for the ZED-F9K-00B slave operation. The following tables present timing values under different capacitive loading conditions. Default SPI configuration is CPOL = 0 and CPHA = 0. 15 I2C is a registered trademark of Philips/NXP UBX-17061422 - R06 C1-Public 5 Communications interfaces   Downloaded From Oneyac.com Page 16 of 26 ZED-F9K-00B - Data sheet Figure 3: ZED-F9K-00B SPI specification mode 1: CPHA=0 SCK = 5.33 MHz Timings 1 - 12 are not specified here as they are dependent on the SPI master. Timings A - E are specified for SPI slave. Timing value at 2 pF load Min (ns) Max (ns) "A" - MISO data valid time (CS) 14 38 "B" - MISO data valid time (SCK) weak driver mode 21 38 "C" - MISO data hold time 114 130 "D" - MISO rise/fall time, weak driver mode 1 4 "E" - MISO data disable lag time 20 32 Timing value at 20 pF load Min (ns) Max (ns) "A" - MISO data valid time (CS) 19 52 "B" - MISO data valid time (SCK) weak driver mode 25 51 "C" - MISO data hold time 117 137 "D" - MISO rise/fall time, weak driver mode 6 16 "E" - MISO data disable lag time 20 32 Timing value at 60 pF load Min (ns) Max (ns) "A" - MISO data valid time (CS) 29 79 "B" - MISO data valid time (SCK) weak driver mode 35 78 "C" - MISO data hold time 122 152 "D" - MISO rise/fall time, weak driver mode 15 41 "E" - MISO data disable lag time 20 32 Table 13: ZED-F9K-00B SPI timings at 2 pF load Table 14: ZED-F9K-00B SPI timings at 20 pF load Table 15: ZED-F9K-00B SPI timings at 60 pF load 5.3 I2C An I2C-compliant interface is available for communication with an external host CPU. The interface can be operated in slave mode only. It is fully compatible with the I2C industry standard fast mode. UBX-17061422 - R06 C1-Public 5 Communications interfaces   Downloaded From Oneyac.com Page 17 of 26 ZED-F9K-00B - Data sheet Since the maximum SCL clock frequency is 400 kHz, the maximum bit rate is 400 kbit/s. The interface stretches the clock when slowed down while serving interrupts, therefore the real bit rates may be slightly lower. The I2C interface is only available with the UART default mode. If the SPI interface is selected by using D_SEL = 0, the I2C interface is not available. Figure 4: ZED-F9K-00B I2C slave specification Symbol Parameter Min (Standard / Fast mode) Max Unit fSCL SCL clock frequency 0 400 kHz tHD;STA Hold time (repeated) START condition 4.0/1 - µs tLOW Low period of the SCL clock 5/2 - µs tHIGH High period of the SCL clock 4.0/1 - µs tSU;STA Set-up time for a repeated START condition 5/1 - µs tHD;DAT Data hold time 0/0 - µs tSU;DAT Data set-up time 250/100 tr Rise time of both SDA and SCL signals - 1000/300 (for C = 400pF) ns tf Fall time of both SDA and SCL signals - 300/300 (for C = 400pF) ns tSU;STO Set-up time for STOP condition 4.0/1 - µs tBUF Bus-free time between a STOP and START condition 5/2 - µs tVD;DAT Data valid time - 4/1 µs tVD;ACK Data valid acknowledge time - 4/1 µs VnL Noise margin at the low level 0.1 VCC - V VnH Noise margin at the high level 0.2 VCC - V ns Table 16: ZED-F9K-00B I2C slave timings and specifications UBX-17061422 - R06 C1-Public 5 Communications interfaces   Downloaded From Oneyac.com Page 18 of 26 ZED-F9K-00B - Data sheet 5.4 USB The USB 2.0 FS (Full speed, 12 Mbit/s) interface can be used for host communication. Due to the hardware implementation, it may not be possible to certify the USB interface. The V_USB pin supplies the USB interface. 5.5 WT (wheel tick) and DIR (forward/reverse indication) ZED-F9K-00B pin 22 (WT) is available as a wheel-tick input. The pin 23 (DIR) is available as a direction input (forward/reverse indication). By default the wheel tick count is derived from the rising edges of the WT input. For optimal performance the wheel tick resolution should be less than 5 cm. The DIR input shall indicate whether the vehicle is moving forwards or backwards. Alternatively, the vehicle WT (or speed) and DIR inputs can be provided via one of the communication interfaces with UBX-ESF-MEAS messages. For more details, see the Integration manual [1]. 5.6 Default interface settings Interface Settings UART1 output 38400 baud, 8 bits, no parity bit, 1 stop bit. NMEA protocol with GGA, GLL, GSA, GSV, RMC, VTG, TXT messages are output by default. UBX protocol is enabled by default but no output messages are enabled by default. RTCM 3.3 protocol output is not supported. UART1 input 38400 baud, 8 bits, no parity bit, 1 stop bit. UBX, NMEA and RTCM 3.3 input protocols are enabled by default. UART2 output 38400 baud, 8 bits, no parity bit, 1 stop bit. UBX protocol cannot be enabled. RTCM 3.3 protocol output is not supported. NMEA protocol is disabled by default. UART2 input 38400 baud, 8 bits, no parity bit, 1 stop bit. UBX protocol cannot be enabled and will not receive UBX input messages. RTCM 3.3 protocol is enabled by default. NMEA protocol is disabled by default. USB Default messages activated as in UART1. Input/output protocols available as in UART1. I2C Fully compatible with the I2C16 industry standard, available for communication with an external host CPU or u-blox cellular modules, operated in slave mode only. Default messages activated as in UART1. Input/output protocols available as in UART1. Maximum bit rate 400 kb/s. SPI Allow communication to a host CPU, operated in slave mode only. Default messages activated as in UART1. Input/output protocols available as in UART1. SPI is not available unless D_SEL pin is set to low (see section D_SEL interface in Integration manual [1]). Table 17: Default interface settings UART2 can be configured as an RTCM interface. RTCM 3.3 is the default input protocol. UART2 may also be configured for NMEA output. NMEA GGA output is typically used with virtual reference service correction services. 16 I2C is a registered trademark of Philips/NXP UBX-17061422 - R06 C1-Public 5 Communications interfaces   Downloaded From Oneyac.com Page 19 of 26 ZED-F9K-00B - Data sheet By default the ZED-F9K-00B outputs NMEA messages that include satellite data for all GNSS bands being received. This results in a high NMEA load output for each navigation period. Make sure the UART baud rate used is sufficient for the selected navigation rate and the number of GNSS signals being received. UBX-17061422 - R06 C1-Public 5 Communications interfaces   Downloaded From Oneyac.com Page 20 of 26 ZED-F9K-00B - Data sheet 6 Mechanical specification Figure 5: ZED-F9K-00B mechanical drawing UBX-17061422 - R06 C1-Public 6 Mechanical specification   Downloaded From Oneyac.com Page 21 of 26 ZED-F9K-00B - Data sheet 7 Reliability tests and approvals ZED-F9K-00B modules are based on AEC-Q100 qualified GNSS chips. Tests for product family qualifications are according to ISO 16750 "Road vehicles – environmental conditions and testing for electrical and electronic equipment”, and appropriate standards. 7.1 Approvals The ZED-F9K-00B is designed to in compliance with the essential requirements and other relevant provisions of Radio Equipment Directive (RED) 2014/53/EU. The ZED-F9K-00B complies with the Directive 2011/65/EU (EU RoHS 2) and its amendment Directive (EU) 2015/863 (EU RoHS 3). Declaration of Conformity (DoC) is available on the u-blox website. UBX-17061422 - R06 C1-Public 7 Reliability tests and approvals   Downloaded From Oneyac.com Page 22 of 26 ZED-F9K-00B - Data sheet 8 Labeling and ordering information This section provides information about product labeling and ordering. For information about moisture sensitivity level (MSL), product handling and soldering see the integration manual [1]. 8.1 Product labeling The labeling of the ZED-F9K-00B modules provides product information and revision information. For more information contact u-blox sales. 8.2 Explanation of product codes Three product code formats are used. The Product name is used in documentation such as this data sheet and identifies all u-blox products, independent of packaging and quality grade. The Ordering code includes options and quality, while the Type number includes the hardware and firmware versions. Table 18 below details these three formats. Format Structure Product code Product name PPP-TGV ZED-F9K Ordering code PPP-TGV-NNQ ZED-F9K-00B Type number PPP-TGV-NNQ-XX ZED-F9K-00B-02 Table 18: Product code formats The parts of the product code are explained in Table 19. Code Meaning Example PPP Product family ZED TG Platform F9 = u-blox F9 V Variant K = High precision + ADR NNQ Option / Quality grade NN: Option [00...99] Q: Grade, A = Automotive, B = Professional XX Product detail Describes hardware and firmware versions Table 19: Part identification code 8.3 Ordering codes Ordering code Product Remark ZED-F9K-00B u-blox ZED-F9K Table 20: Product ordering codes Product changes affecting form, fit or function are documented by u-blox. For a list of Product Change Notifications (PCNs) see our website at: https://www.u-blox.com/en/ product-resources. UBX-17061422 - R06 C1-Public 8 Labeling and ordering information   Downloaded From Oneyac.com Page 23 of 26 ZED-F9K-00B - Data sheet Related documents [1] [2] [3] ZED-F9K Integration manual, UBX-20046189 LAP 1.20 Interface description, UBX-20046191 Radio Resource LCS Protocol (RRLP), (3GPP TS 44.031 version 11.0.0 Release 11) For regular updates to u-blox documentation and to receive product change notifications please register on our homepage https://www.u-blox.com. UBX-17061422 - R06 C1-Public Related documents   Downloaded From Oneyac.com Page 24 of 26 ZED-F9K-00B - Data sheet Revision history Revision Date Name Status / comments R01 19-Feb-2019 ssid Objective specification R02 24-Sep-2019 ssid Advance information Priority/non-priority navigation mode R03 15-Jan-2020 ssid Early production information - optional license information for carrierphase measurements, aided starts performance numbers revised R04 10-Sep-2020 ssid Advance information - LAP 1.20 update - ZED-F9K-00B-01 update - Added ZED-F9K performance in different single GNSS modes - Performance in different GNSS modes revised - SBAS support added - Communication interfaces section updated - Re-convergence time performance numbers revised R05 06-Nov-2020 ssid Early production information - ZED-F9K-00B-01 - Public R06 24-Aug-2021 ssid Advance information - ZED-F9K-00B-02 UBX-17061422 - R06 C1-Public Revision history   Downloaded From Oneyac.com Page 25 of 26 ZED-F9K-00B - Data sheet 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. Phone: +1 703 483 3180 E-mail: info_us@u-blox.com     u-blox AG Phone: +41 44 722 74 44 E-mail: info@u-blox.com Support: support@u-blox.com u-blox Singapore Pte. Ltd. Phone: +65 6734 3811 E-mail: info_ap@u-blox.com Support: support_ap@u-blox.com Regional Office West Coast Phone: +1 408 573 3640 E-mail: info_us@u-blox.com                   Regional Office Australia Phone: +61 3 9566 7255 E-mail: info_anz@u-blox.com Support: support_ap@u-blox.com Technical Support Phone: +1 703 483 3185 E-mail: support_us@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: +86 23 6815 1588 E-mail: info_cn@u-blox.com Support: support_cn@u-blox.com                             Regional Office China (Shanghai) Phone: +86 21 6090 4832 E-mail: info_cn@u-blox.com Support: 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-17061422 - R06 C1-Public Page 26 of 26   Downloaded From Oneyac.com 单击下面可查看定价，库存，交付和生命周期等信息 >>U-BLOX(优北罗) Downloaded From Oneyac.com