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Copy file name to clipboardExpand all lines: docs/hardware_overview.md
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!!! code "ESP32 Firmware"
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We have intentionally kept the ESP32 firmware as simple as possible - it only disciplines the TCXO oscillator and controls the OLED display. The SparkFun RTK Firmware or SparkFun RTK Everywhere firmware will not run on this product. The intention is that you can easily develop your own firmware for the RTK mosaic-T if the SparkFun firmware does not meet your needs.
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The **[/Firmware/Binaries](https://github.com/sparkfun/SparkFun_RTK_mosaic-T/tree/main/Firmware/Binaries)** folder contains the firmware binaries. You can update or reload the firmware using the [SparkFun RTK Firmware Uploader](https://github.com/sparkfun/SparkFun_RTK_Firmware_Uploader).
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The **[/Firmware/Binaries](https://github.com/sparkfun/SparkFun_RTK_mosaic-T/tree/main/Firmware/Binaries)** folder contains the firmware binaries.
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You can update or reload the firmware using the [SparkFun RTK Firmware Uploader](https://github.com/sparkfun/SparkFun_RTK_Firmware_Uploader).
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You can of course modify the hardware too, should you want to. The design is completely open-source.
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Details about the aluminum enclosure can be found on the [Metal Enclosure - Custom Aluminum Extrusion (6in. x 4in. PCB)](https://www.sparkfun.com/products/22640) product page.
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<figure markdown>
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[{ width="700" }](./assets/board_files/dimensions-enclosure.pdf "Click to enlarge")
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[{ width="700" }](./assets/board_files/dimensions-enclosure.pdf "Click to enlarge")
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<figcaption markdown>
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[Dimensions (PDF)](./assets/board_files/dimensions-enclosure.pdf) of the RTK mosaic-T aluminum enclosure and the front/rear panels, in millimeters.
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</figcaption>
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!!! info "CH340 Driver"
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The CH340 allows the ESP32-WROVER to communicate with a computer/host device through the USB-C connection. This allows the ESP32 to show up as a device on the serial (or COM) port of the computer. Users will need to install the latest drivers for the computer to recognize the CH340 *(see **[USB Driver](./software_overview.md#usb-driver-1)** section)*.
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The CH340 allows the ESP32-WROVER to communicate with a computer/host device through the USB-C connection. This allows the ESP32 to show up as a device on the serial (or COM) port of the computer. Users will need to install the latest drivers for the computer to recognize the CH340 *(see **[USB Driver](./software_overview.md#usb-driver_1)** section)*.
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??? code "ESP32 Firmware"
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We have intentionally kept the ESP32 firmware as simple as possible. The intention is that users can easily develop their, own firmware for the RTK mosaic-T using the Espressif ESP IDF or the Arduino IDE if the SparkFun firmware does not meet their needs.
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The **[/Firmware/Binaries](https://github.com/sparkfun/SparkFun_RTK_mosaic-T/tree/main/Firmware/Binaries)** folder contains the firmware binaries. You can update or reload the firmware using the [SparkFun RTK Firmware Uploader](https://github.com/sparkfun/SparkFun_RTK_Firmware_Uploader).
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The **[/Firmware/Binaries](https://github.com/sparkfun/SparkFun_RTK_mosaic-T/tree/main/Firmware/Binaries)** folder contains the firmware binaries.
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You can update or reload the firmware using the [SparkFun RTK Firmware Uploader](https://github.com/sparkfun/SparkFun_RTK_Firmware_Uploader).
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## Ethernet PHY Interface
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The mosaic-T has a KSZ8041NLI Ethernet PHY interface, connected using a Reduced Media-Independent Interface (RMII).
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The RTK mosaic-T can draw power from either or both USB ports, in addition to Power-over-Ethernet and the DC-DC external input described above.
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!!! info "CH340 Driver"
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The CH340 allows the ESP32-WROVER to communicate with a computer/host device through the USB-C connection. This allows the ESP32 to show up as a device on the serial (or COM) port of the computer. Users will need to install the latest drivers for the computer to recognize the CH340 *(see **[USB Driver](./software_overview.md#usb-driver-1)** section)*.
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The CH340 allows the ESP32-WROVER to communicate with a computer/host device through the USB-C connection. This allows the ESP32 to show up as a device on the serial (or COM) port of the computer. Users will need to install the latest drivers for the computer to recognize the CH340 *(see **[USB Driver](./software_overview.md#usb-driver_1)** section)*.
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Occasionally, the initial mosaic-T clock bias can be excessive - microseconds rather than nanoseconds. The firmware detects this and will restart the GNSS to achieve a better lock. You will see **Bad RxClkBias --- Restarting** appear on the OLED when this happens. The threshold for this can be adjusted via the ESP32 firmware settings.
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## Fugro AtomiChron<sup>Ⓡ</sup>
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For the ultimate in clock accuracy, you can subscribe to Fugro's AtomiChron service. Corrections can be delivered via L-Band or IP (Ethernet). AtomiChron allows the mosaic-T to achieve better than 1ns timing accuracy.
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Without an AtomiChron subscription, the firmware will use the composite GNSS **RxClkBias** from **PVTGeodetic** to discipline the TCXO frequency.
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<figuremarkdown>
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[{ width="750" }](./assets/img/hookup_guide/AtomiChron-Expired.png"Click to enlarge")
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<figcaptionmarkdown>By default, the Fugro AtomiChron subscription shows as "expired".</figcaption>
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</figure>
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With AtomiChron, you have the option to use the individual GPS or Galileo clock bias from **FugroTimeOffset** over the Fugro composite bias. Activation takes place over L-Band and is very, very quick.
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<figuremarkdown>
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[{ width="750" }](./assets/img/hookup_guide/AtomiChron-Active.png"Click to enlarge")
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<figcaptionmarkdown>The mosaic-T with an active Fugro AtomiChron subscription.</figcaption>
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For users who have lost the pamphlet in their kit, please check out the links below to download the `*.pdf` file:
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<figure markdown>
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[{ width="150" }]( "Click to enlarge")
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[{ width="150" }](./assets/img/qr_code/quick_start_guide.png "Click to enlarge")
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<figcaption markdown>
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[:octicons-download-16:{ .heart } Download the Quick Start Guide :fontawesome-solid-file-pdf:](./assets/quick_start_guide-v10.pdf "Click to Download"){ .md-button .md-button--primary }
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</figcaption>
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Connect your computer, tablet or phone to the same network, open a web browser and navigate to the IP address shown on the OLED display. You should see the mosaic-T's internal web page. The web page displays a lot of helpful information and can also be used to fully configure the mosaic-T.
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<figure markdown>
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[{ width="400" }]( "Click to enlarge")
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[{ width="400" }](./assets/img/hookup_guide/T-web-page.png "Click to enlarge")
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<figcaption markdown>
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[mosaic T web page (PNG)](./assets/img/hookup_guide/T-web-page.png) for the RTK mosaic-T.
* :material-file-document-multiple: [Mastering time: the challenge of time synchronisation](https://www.fugro.com/news/podcasts/2024/mastering-time-the-challenge-of-time-synchronisation)
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!!! code "ESP32 Firmware"
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We have intentionally kept the ESP32 firmware as simple as possible - its only tasks are to: discipline the TCXO oscillator; control the OLED display. The intention is that you can easily develop your own firmware for the RTK mosaic-T if the SparkFun firmware does not meet your needs.
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The **[/Firmware/Binaries](https://github.com/sparkfun/SparkFun_RTK_mosaic-T/tree/main/Firmware/Binaries)** folder contains the firmware binaries. You can update or reload the firmware using the [SparkFun RTK Firmware Uploader](https://github.com/sparkfun/SparkFun_RTK_Firmware_Uploader).
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The **[/Firmware/Binaries](https://github.com/sparkfun/SparkFun_RTK_mosaic-T/tree/main/Firmware/Binaries)** folder contains the firmware binaries.
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You can update or reload the firmware using the [SparkFun RTK Firmware Uploader](https://github.com/sparkfun/SparkFun_RTK_Firmware_Uploader).
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You can of course modify the hardware too, should you want to. The design is completely open-source.
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</div>
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## Fugro AtomiChron<sup>Ⓡ</sup>
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For the ultimate in clock accuracy, you can subscribe to Fugro's AtomiChron service. Corrections can be delivered via L-Band or IP (Ethernet). AtomiChron allows the mosaic-T to achieve better than 1ns timing accuracy.
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Without an AtomiChron subscription, the firmware will use the composite GNSS **RxClkBias** from **PVTGeodetic** to discipline the TCXO frequency.
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<figuremarkdown>
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[{ width="400" }](./assets/img/hookup_guide/AtomiChron-Expired.png"Click to enlarge")
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<figcaptionmarkdown>By default, the Fugro AtomiChron subscription shows as "expired".</figcaption>
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</figure>
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With AtomiChron, you have the option to use the individual GPS or Galileo clock bias from **FugroTimeOffset** over the Fugro composite bias. Activation takes place over L-Band and is very, very quick.
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<figuremarkdown>
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[{ width="400" }](./assets/img/hookup_guide/AtomiChron-Active.png"Click to enlarge")
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<figcaptionmarkdown>The mosaic-T with an active Fugro AtomiChron subscription.</figcaption>
When connected to the ESP32 CH340 COM port at 115200 baud, pressing any key in the terminal emulator will open the firmware Main Menu:
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The settings are saved to non-volatile memory (NVM, LittleFS) on exiting the menu. Ensure you fully exit the menu ("x", "Enter", "x", "Enter") to save any modified settings.
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The TCXO frequency control word is saved to NVM once per hour, to allow a quicker startup at the next power-on.
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By default, the L5 band is disabled on the mosaic-T. To enable reception of the L5 band on the mosaic-T, we have provided instructions on the [Enable the L5 Band](../L5) page.
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## Expected Accuracy
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Here is a reference of the accuracy that can be expected from the RTK mosaic-T at a stationary position in `Rover` mode.
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=== "Factory Settings"
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With the factory settings for the mosaic-T, our location had a standard deviation of σ~x~ = 0.499m and σ~y~ = 0.595m
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<div class="grid" markdown>
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[{ width="400" }](./assets/img/accuracy/summary-default.png "Click to enlarge")
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<figcaption markdown>A summary of the GPS signals and the standard deviation of the antenna's location.</figcaption>
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</figure>
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[{ width="400" }](./assets/img/accuracy/precision-default.png "Click to enlarge")
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<figcaption markdown>Data recorded from the RTK mosaic-T with the default/factory settings.</figcaption>
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</figure>
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</div>
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</div>
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**Conditions:** L1/L2/L5 band antenna, statically mounted to the rooftop of our building, featuring a significant ground plane, with no obstructions for multi-path signals. The RTK mosaic-T was connected with a low-loss cable, fully powered at 5V, and default settings.
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=== "L5 Band Enabled"
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With the default settings and the `L5` band enabled for the mosaic-T, our location had a standard deviation of σ~x~ = 0.504m and σ~y~ = 0.673m
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[{ width="400" }](./assets/img/accuracy/summary-L5.png "Click to enlarge")
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<figcaption markdown>A summary of the GPS signals and the standard deviation of the antenna's location.</figcaption>
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</figure>
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</div>
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[{ width="400" }](./assets/img/accuracy/precision-L5.png "Click to enlarge")
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<figcaption markdown>Data recorded from the RTK mosaic-T with the L5 band enabled.</figcaption>
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</figure>
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**Conditions:** L1/L2/L5 band antenna, statically mounted to the rooftop of our building, featuring a significant ground plane, with no obstructions for multi-path signals. The RTK mosaic-T was connected with a low-loss cable, fully powered at 5V, and had the `L5` band enabled.
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=== "NTRIP - RTK Corrections"
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With the default setting and RTK corrections enabled for the mosaic-T, our location had a standard deviation of σ~x~ = 4.29mm and σ~y~ = 6.65mm
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[{ width="400" }](./assets/img/accuracy/summary-RTK.png "Click to enlarge")
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<figcaption markdown>A summary of the GPS signals and the standard deviation of the antenna's location.</figcaption>
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</figure>
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[{ width="400" }](./assets/img/accuracy/precision-RTK.png "Click to enlarge")
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<figcaption markdown>Data recorded from the RTK mosaic-T with the RTK corrections.</figcaption>
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</figure>
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**Conditions:** L1/L2/L5 band antenna, statically mounted to the rooftop of our building, featuring a significant ground plane, with no obstructions for multi-path signals. The RTK mosaic-T was connected with a low-loss cable, fully powered at 5V, and configured as an NTRIP client with corrections from [RTK2go](http://www.rtk2go.com:2101/SNIP::STATUS).
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=== "Ideal *(RTK & L5 Band)*"
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Under *"ideal conditions"*, our location had a standard deviation of σ~x~ = 4.68mm and σ~y~ = 6.70mm
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[{ width="400" }](./assets/img/accuracy/summary-RTK_L5.png "Click to enlarge")
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<figcaption markdown>A summary of the GPS signals and the standard deviation of the antenna's location.</figcaption>
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</figure>
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[{ width="400" }](./assets/img/accuracy/precision-RTK_L5.png "Click to enlarge")
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<figcaption markdown>Data recorded from the RTK mosaic-T with the RTK corrections and the `L5` band enabled.</figcaption>
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</figure>
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**Ideal:** L1/L2/L5 band antenna, statically mounted to the rooftop of our building, featuring a significant ground plane, with no obstructions for multi-path signals. The RTK mosaic-T was connected with a low-loss cable, fully powered at 5V, RTK corrections enabled, and configured to enable the `L5` band.
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## Reprogramming the ESP32
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In case users accidentally reprogram or corrupt the flash memory on the ESP32, the [factory firmware is available in our GitHub repository](https://github.com/sparkfun/SparkFun_RTK_mosaic-T/tree/main/Firmware/RTK_mosaic-T_Firmware).
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The batch files in the linked directory are used to flash our factory firmware onto the ESP32 in the RTK mosaic-T. The batch file relies on the tools from the Arduino IDE and the ESP32 Arduino core and therefore, they will need to be installed before the batch file can be executed.
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In case users accidentally reprogram or corrupt the flash memory on the ESP32, the **[/Firmware/Binaries](https://github.com/sparkfun/SparkFun_RTK_mosaic-T/tree/main/Firmware/Binaries)** folder contains the firmware binaries.
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!!! note
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The batch file is only compatible with Windows computers. For Linux and MacOS, users will need to manually flash the [binary files](https://github.com/sparkfun/SparkFun_RTK_mosaic-T/tree/main/Firmware/RTK_mosaic-T_Firmware/build) onto the ESP32.
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!!! note
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To compile the firmware, users will need to install the [Arduino IDE](https://www.arduino.cc/en/software), and select the Espressif ESP32-WROVER as the "board". However, the compilation instructions are outside the scope of our support for this product. However, users can refer to many guides for the Arduino IDE to figure out how to compile the firmware.
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You can update or reload the firmware using the [SparkFun RTK Firmware Uploader](https://github.com/sparkfun/SparkFun_RTK_Firmware_Uploader).
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The full firmware source code is available in our [GitHub repository](https://github.com/sparkfun/SparkFun_RTK_mosaic-T/tree/main/Firmware/RTK_mosaic-T_Firmware)
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## Enclosure Disassembly
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Due to the ESD sensitivity of the mosaic-T module, we don't recommend disassembling the RTK mosaic-T. However, if users must access the PCB to troubleshoot an issue, make a modification, or repair a component, we highly recommend that they take the necessary ESD precautions to avoid damaging the mosaic-T module.
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