The RTK mosaic-T is L5-capable but, because the GPS L5 service is currently pre-operational and marked as "unhealthy", it takes some extra configuration steps to enable L5:
+Admin > Expert Control > Control Panel > Navigation > Receiver Operation > Masks - Set "Discard unhealthy satellites" to off for both "Tracking" and "PVT"
+
Navigation > Advance User Settings > Tracking > Signal Tracking : Enable GPSL5 signal tracking
+
Navigation > Advance User Settings > PVT > Signal Usage - Enable GPSL5 in both “PVT” and “navigation data decoder”
+
Info
+Make sure to click “OK” at the bottom of each page where you are making changes to update the current configuration, and don’t forget to save it to boot if you want the configuration to persist when you cycle power.
+setHealthMask, Tracking, offsetHealthMask, PVT, offsetSignalTracking, +GPSL5setSignalUsage, +GPSL5, +GPSL5This folder should contain the images for the product documentation
+sfe_logo_sm.png - SparkFun flame logo (Cover page for with-pdf extension)sfe_logo_sq.png - SparkFun flame logo (favicon)hookup_guide - Images for the hookup guide pagesSpot an improvement opportunity? Feel free to contribute to our open-source design and documentation. 
All of this documentation can be modified by you! Please help us make it better.
+docs folder of the SparkFun RTK mosaic-X5 repository.All of our designs are open-source! Please help us make it better.
+Hardware folder of the SparkFun RTK mosaic-X5 repository.If approved, we will flag these changes for our next board revision. Congrats! 🍻
+Info
+Even if your suggestion is accepted, these changes may not be immediately available for purchase. We may have to cycle through our current product inventory first.
+
Let's provide some recognition to the contributors for this project!
+
+
+
Spot something wrong? Please let us know. 
Need Help?
+If you need technical assistance or more information on a product that is not working as you expected, we recommend heading on over to the SparkFun Technical Assistance page for some initial troubleshooting. This Submit Issues page is not where users should seek assistance.
+If you can't find what you need there, the SparkFun Forums is a great place to search the product forums and ask questions.
+Account Registration Required
+For your first visit to our forum, you'll need to create a Forum Account to post questions.
+All of our documentation can be modified by you! Please help us make it better.
+docs folder of the SparkFun RTK mosaic-X5 repository.If a section of the documentation is incorrect, please open an issue and let us know.
+All of our designs are open-source! Please help us make it better.
+Hardware folder of the SparkFun RTK mosaic-X5 repository.If part of the design is confusing, please open an issue and let us know.
+If part of the board's functionality is missing, please open an issue and file a feature request.
+Design Considerations
+Please keep in mind that we may intentionally exclude certain functions of the board to meet our product design requirements.
+If approved, we will flag these changes for our next board revision. Congrats! 🍻
+Info
+Even if your suggestion is accepted, these changes may not be immediately available for purchase. We may have to cycle through our current product inventory first.
+Warning
+When assembling the RTK mosaic-T, users should attach any power connections last. While there shouldn't be any issues with hot-swapping peripherals, it is common practice to power electronics as the last step of the assembly process (and the power should be disconnected before removing components).
+The RTK mosaic-T comes packaged as a complete kit, with all the accessories you'd need to set it up.
+
+
Inside the box, users will find the GNSS antenna, RTK mosaic-T in its aluminum enclosure, and another box containing additional accessories. Inside, the accessory box, users will find the CAT-6 Ethernet cable, USB cable, SMA to TNC cable, USB power supply, WiFi antenna, and 32GB SD card.
+
+
+
The USB ports are utilized to configure the mosaic-T module and ESP32 firmware settings. Additionally, the USB ports can also be used as a power source for the RTK mosaic-T.
+The USB port to the mosaic-T can be used to configure the module through an IP port, for serial communication to stream the GNSS data, and access the SD card as a mass storage device. To connect to the mosaic-T, users only need to plug a USB-C cable into the CONFIG MOSAIC USB port and their computer.
The RTK mosaic-T with USB-C cable being attached.
+With the default firmware, the USB port for the ESP32 is used for serial communication to tune the parameters for the TCXO oscillator and the Pulse-Per-Second output. To configure the settings, users only need to plug a USB-C cable into the CONFIG ESP32 USB port and their computer, and then open a terminal emulator at 115200 baud.
The RTK mosaic-T with USB-C cable being attached.
+Software Requirements
+Depending on their computer's operating system, users may need to install USB drivers to interface with the mosaic-T and/or the ESP32. Users may also need to install a terminal emulator for serial communication with the mosaic-T and the ESP32.
+In order to receive GNSS signals, users will need a compatible antenna. With the parts included in this kit, connect the L1/L2/L5 (tri-band) GNSS antenna to the RTK mosaic-T using the TNC-to-SMA cable.
+
Attaching a tri-band GNSS antenna to the TNC-SMA cable.
+
Attaching a TNC-SMA cable to the SMA connector on the RTK mosaic-T.
+Users should mount their GNSS antenna outside, where it will have a clear, unobstructed view of the sky. Avoid areas with nearby buildings, EMF structures (i.e. radio towers or power lines), and vegetation (i.e. trees). These objects can increase errors due to signal muti-path, interference, and elevated noise plane.
+
+
When selecting antennas and/or cables for the RTK mosaic-T, double-check the polarity of the connection.
+There is a single ethernet jack on the RTK mosaic-T, which can be used to provide network access to the mosaic-T module. It supports power over ethernet (PoE) to power the device.
+The jack to the mosaic-T allows users to provide internet access and power; it supports PoE. To provide network access, users should connect the RTK mosaic-T from the ETHERNET (PoE) jack to their local network with the (CAT-6) ethernet cable provided in the kit.
The RTK mosaic-T with ethernet cable being attached to the ETHERNET (PoE) jack.
Users can configure the mosaic-T module through the network connection.
+Check the Ethernet interface is enabled. It may be disabled. Connect via the CONFIG MOSAIC USB-C port and open 192.168.3.1 on a web browser. Check the Communication Ethernet sub-page.
+
+
+
By default, the mosaic-T Ethernet port is configured for Dynamic Host Configuration Protocol (DHCP). It expects the router / Ethernet switch to provide it with an IP address. If the IP address is all zeros (0.0.0.0), check that your router has DHCP enabled. Most do.
+If you need a static IP address, you can configure this through the mosaic-T's Communication Ethernet sub-page.
+Subnet 3 is reserved for the mosaic-T's USB-C connection (Ethernet-over-USB). If your router / switch is allocating addresses using subnet 3 (192.168.3.***), please change its settings so it uses a different subnet.
+An µSD card slot is available for users to log and store data, locally on the board. Users will need to insert a compatible SD card and configure the mosaic-T module for data logging.
+
Inserting an SD card into the RTK mosaic-T.
+SD Card Compatibility
+The mosaic-T supports µSD cards with a FAT32 file system (i.e. only cards up to 32GB in size).
+Before logging can take place, it is necessary to define a "logging stream" using the Logging page or RxTools. Streams can contain NMEA or SBF (Septentrio Binary Format) data; SBF can contain RTCM and/or RINEX.
+
+
Instructional Video
+How to log data to the SD card of the Septentrio mosaic receiver module
+There are multiple ways to configure and enable data logging to an SD card. However, the simplest method is with the LOG button. Once the stream is defined,
+For more information, please reference the SD Card Slot section.
+Users can easily attach accessories to the RTK mosaic-T by wiring them into the terminal blocks on the back of the enclosure.
+
Connecting a wire to the terminal block.
+For multiple connections or wiring harnesses, users can disconnect the terminal block from its socket on the RTK mosaic-T.
+
+
Users can wiggle or use a soft/rigid object to carefully pry the terminal block off from its connector. In the picture below, a plastic name tag (~1.5mm thick) is used to carefully pry the terminal block up. We have also found the edge of a PCB ruler works great too.
+
+
Once wired up, users can simply push the terminal block back into its socket.
+
+
+
Warning
+To avoid shorts or damaging the RTK mosaic-T, verify the wiring with the labels on the back of the enclosure.
+Read Before Handling PCB!
+ESD Sensitivity
+The mosaic-T module is sensitive to ESD. Use a proper grounding system to make sure that the working surface and the components are at the same electric potential.
+As recommended by the manufacturer, we highly encourage users to take the necessary precautions to avoid damaging their module.
+iFixit Anti-Static Wrist Strap
+TOL-25572
ESP32 Firmware
+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.
+The /Firmware/Binaries folder contains the firmware binaries.
+You can update or reload the firmware using the SparkFun RTK Firmware Uploader.
+You can of course modify the hardware too, should you want to. The design is completely open-source.
+In this section, we walk you through the hardware design, interfaces, I/O connections, power options and more.
+Users can download the full schematic for the RTK mosaic-T in *.pdf format.
Details about the aluminum enclosure can be found on the Metal Enclosure - Custom Aluminum Extrusion (6in. x 4in. PCB) product page.
+
+
The circuit board dimensions are illustrated in the drawing below; the listed measurements are in inches.
+
+
For more information about the board's dimensions, users can download the KiCad files for the board. These files can be opened in KiCad 8 and additional measurements can be made with the dimensions tool.
+The dimensions and technical specifications of the GNSS antenna can be found on the GNSS Multi-Band L1/L2/L5 Surveying Antenna - TNC (SPK6618H) product page.
+
+
+Source: SPK6618H Datasheet (PDF)
+
The mosaic-T and the ESP32 both required 3.3V power. To simplify the power circuitry, the four power sources are combined into a common 5V rail which then feeds individual 3.3V regulators for the mosaic-T and the ESP32.
+
Power connections on the RTK mosaic-T PCB.
+The RTK mosaic-T can be powered individually or in combination, with any of the following:
+
+ USB Ports - 5V; delivered via the MOSAIC CONFIG and/or ESP32 CONFIG USB-C connectors.Power-over-Ethernet - Range: 36 to 57V; delivered via the MOSAIC ETHERNET RJ45 MagJack connector.External DC Power - Range: 9 to 36V; delivered via the VIN+ and VIN- screw cage terminals.If you want to measure the board's current draw, you can open the MEAS jumper and measure the current via a pair of breakout pads (see the Jumpers section).
Diodes are used to combine and protect the power sources from each other. Also, a 2A resettable fuse (green) provides additional protection.
+Info
+For more details, users can reference the schematic and the datasheets of the individual components on the board.
+The mosaic-T and ESP32 both have USB-C connections. These USB ports can be used to power the RTK mosaic-T during the initial configuration when the mosaic-T or ESP32 are connected to a computer.
+
+
+
CH340 Driver
+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 section).
+The mosaic-T Ethernet port supports Power-over-Ethernet (PoE), allowing the RTK mosaic-T to be powered by the network. This is very useful when the RTK mosaic-T is mounted remotely - perhaps in a weatherproof box up on the roof. Data and power can be delivered through a single cable, avoiding the need for a separate power connection.
+
+
+
The RTK mosaic-T includes a fully-isolated DC-DC converter, for applications where you may want to power the unit from a vehicle. The DC-DC converter accepts DC voltages between 9V and 36V, regulating this down to 5V. The converter is fully isolated to 1.5kV and operates with ~90% efficiency.
+
+VIN+ and VIN- screw terminal pins for the external DC power input.
+
For 12V or 24V vehicle power:
+VIN+ screw cage terminalVIN- screw cage terminalPower Source
+Additionally, make sure that the power source from the vehicle is not directly tied to the vehicle's battery, Always On, or accessory circuits. Otherwise, users will risk draining the battery while the engine is off.
We recommend locating the ignition on or switched power circuit, which is only powered when the key is in the On position and the engine is running.
Note
+The On position, is where a key normally rests after the engine is started. However, users can still move the key from the Off position and into the On position without starting the engine. In this case, the alternator is not running and keeping the battery charged.
Modern eco-efficient vehicles may automatically shut down the engine if the vehicle is idling too long. Therefore, cutting off the vehicle's alternator that keeps the battery charged. Luckily, most vehicles with this automatic start/stop technology will monitor the battery's voltage and restart the engine when required. With this in mind, users may want to initially monitor their battery voltage, in case their vehicle isn't "so smart" 
.
If desired, users can link VIN- to the adjacent GND screw cage terminal. However, this will bypass the voltage isolation and could introduce an unwanted ground loop, particularly if the GNSS antenna ground (shield, 0V) is also connected to the chassis.
The heart of our product is of course the mosaic-T GNSS module from Septentrio. It is a very sophisticated chip with multiple interfaces: UARTS, USB and Ethernet. The COM3 UART pins, plus GPIO1 and GPIO2, are available as 0.1" test points should you need access to them.
The Septentrio mosaic-T GNSS module.
+The ESP32 processor is there to control (discipline) the 10 MHz TCXO oscillator and the OLED display. We have deliberately kept the ESP32 firmware as simple as possible. The intention is that you can write your own firmware using the Espressif IDF or Arduino IDE if you need to. The ESP32-WROVER-IE antenna is connected to the ESP32 RP SMA connector on the rear panel but it is unused by the SparkFun firmware.
+
The Espressif ESP32-WROVER processor.
+Think of the ESP32 as a co-processor, or riding shotgun... The mosaic-T COM1 and COM4 UARTs are linked to the ESP32, allowing the two to communicate directly without needing an Ethernet link. In our firmware, the PVTGeodetic and ReceiverTime messages are output on COM1. The ESP32 displays some of their content on the I2C OLED display, and then uses the content to discipline the TCXO oscillator. See Oscillator for more details.
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.
+The /Firmware/Binaries folder contains the firmware binaries.
+You can update or reload the firmware using the SparkFun RTK Firmware Uploader.
+The mosaic-T has a KSZ8041NLI Ethernet PHY interface, connected using a Reduced Media-Independent Interface (RMII).
+
Ethernet (PoE) conection.
+
The Ethernet PHY on the RTK mosaic-T PCB.
+Check the Ethernet interface is enabled. It may be disabled. Connect via the CONFIG MOSAIC USB-C port and open 192.168.3.1 on a web browser. Check the Communication Ethernet sub-page.
+
+
+
By default, the mosaic-T Ethernet port is configured for Dynamic Host Configuration Protocol (DHCP). It expects the router / Ethernet switch to provide it with an IP address. If the IP address is all zeros (0.0.0.0), check that your router has DHCP enabled. Most do.
+If you need a static IP address, you can configure this through the mosaic-T's Communication Ethernet sub-page.
+Subnet 3 is reserved for the mosaic-T's USB-C connection (Ethernet-over-USB). If your router / switch is allocating addresses using subnet 3 (192.168.3.***), please change its settings so it uses a different subnet.
+The mosaic-T and ESP32 both have USB-C connections. The MOSAIC USB port is high-speed and connected to the T through a balancing transformer. The ESP32 USB port is connected through a CH340 USB-UART IC.
+
USB-C connections: mosaic-T (left) and ESP32 (right).
+
The USB-C data connections on the RTK mosaic-T PCB.
+Info
+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.
+CH340 Driver
+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 section).
+The µSD socket is connected directly to the mosaic-T via a one-bit SDIO interface for fast data logging. The mosaic-T supports µSD cards with a FAT32 file system (i.e. only cards up to 32GB in size).
+
µSD slot and LOG button.
+
µSD socket and Log button on the RTK mosaic-T PCB.
+Initial Configuration
+Before logging can take place, it is necessary to define a "logging stream" using the Logging page or RxTools. Streams can contain NMEA or SBF (Septentrio Binary Format) data; SBF can contain RTCM and/or RINEX.
+
+
Instructional Video
+How to log data to the SD card of the Septentrio mosaic receiver module
+Once the stream is defined, users can control the data logging operation through the LOG button.
+LOG LED will flash while logging is taking place.The RTK mosaic-T has robust SMA connectors for the mosaic-T GNSS antenna, 50 Ohm Pulse-Per-Second, 10 MHz disciplined sine wave, and the ESP32 WiFi / BT antenna.
+
The SMA connector for the GNSS antenna.
+
The connection for the GNSS antenna to the mosaic-T.
+The mosaic-T GNSS SMA connector is standard polarity and provides 5V power for an active antenna.
+
The SMA connector for the 50 Ohm Pulse-Per-Second output.
+
The connection for the 50 Ohm Pulse-Per-Second output.
+The Pulse-Per-Second SMA connector is standard polarity. The output impedance is 50 Ohm. The voltage is selectable via the VCCIO switch: 3.3V or 5V. The output is DC-coupled.
+
The SMA connector for the 50 Ohm disciplined 10 MHz sine wave output.
+
The connection for the 50 Ohm disciplined 10 MHz sine wave output.
+The 10 MHz sine wave SMA connector is standard polarity. The output impedance is 50 Ohm. The voltage is adjustable via the VCCIO switch. The output is AC-coupled and is approximately 1VPP.
+
The RP-SMA connector for the WiFi/BLE antenna.
+
The connection for the WiFi / BLE antenna to the ESP32.
+The ESP32 WiFi / BT SMA connector is reverse-polarity (RP). A short u.FL cable connects the SMA connector to the ESP32-WROVER itself.
+Note: this connector is not used by the current RTK mosaic-T firmware. It is there in case you want to develop your own firmware with WiFi / BT connectivity.
+Connector Polarity
+When selecting antennas and/or cables for the RTK mosaic-T, double-check the polarity for the connections.
+The RTK moasic-T is equipped with a 10-way 3.5mm screw cage terminal connector.
+
I/O Screw Terminal Connections.
+
I/O Screw Terminal Connections on the RTK mosaic-T PCB.
+These terminals are described in the tabs below. For more information on the I/O terminals, you can refer to the schematic.
+The VIN+ and VIN- terminals allow the RTK mosaic-T to be powered by an external DC power source - typically a 12V / 24V vehicle battery.
| Terminal | +|
|---|---|
| VIN+ | +External voltage: Min: 9V; Max: 36V | +
| VIN- | +Ground / Chassis / 0V | +
Info
+The DC-DC converter in the RTK mosaic-T provides 1.5kV isolation between VIN+/VIN- and 5V/GND. There is no direct electrical connection between VIN- and GND.
Ground Loop
+If desired, users can link VIN- to the adjacent GND screw cage terminal. However, this will bypass the voltage isolation and could introduce an unwanted ground loop, particularly if the GNSS antenna ground (shield, 0V) is also connected to the chassis.
Ground / 0V or logic-low reference.
+Info
+The DC-DC converter in the RTK mosaic-T provides 1.5kV isolation between VIN+/VIN- and 5V/GND. There is no direct electrical connection between GND and VIN-.
Ground Loop
+If desired, users can link GND to the adjacent VIN- screw cage terminal. However, this will bypass the voltage isolation and could introduce an unwanted ground loop, particularly if the GNSS antenna ground (shield, 0V) is also connected to the chassis.
The mosaic-T UART COM2 connections are connected as follows:
+| Terminal | +Notes | +|
|---|---|---|
| RX | +COM2 UART Receive - Input | ++ |
| TX | +COM2 UART Transmit - Output | ++ |
| RTS | +COM2 UART Request To Send - Output | +The module drives this pin low when ready to receive data | +
| CTS | +COM2 UART Clear To Send - Input | +Must be driven low when ready to receive data from the module | +
Tip
+The COM2 I/O voltage is set by the VCCIO voltage selection switch.
+Tip
+The RX and CTS inputs have weak (100K) pull-ups to VCCIO.
+Tip
+The CTS terminal can be configured as a VCCIO power output by soldering the jumper closed on the PCB.
+The CTS terminal can be configured as a VCCIO power output by soldering the jumper closed on the PCB.
+
+
Tip
+Soldering the jumper closed will place the mosaic-T COM2 CTS into the high (not ready) state. Flow control (hardware handshaking) is not possible when the jumper is closed. Flow control is disabled by default. If needed, flow control can be (re)disabled through the web interface or by sending (e.g) scs, COM2, baud115200, bits8, No, bit1, none
+The VCCIO voltage can be set to 3.3V or 5V via the small internal slide switch highlighted below:
+
+
The CTS terminal can then be used as a power output or logic-high references. Likewise, the GND terminal can be used for power return or as logic-low references.
| Terminal | +|
|---|---|
| CTS | +3.3V or 5V power output or logic-high reference | +
| GND | +Ground / 0V or logic-low reference | +
Info
+The default position of the VCCIO switch is 3.3V.
Tip
+The CTS and GND pins could be used to power (e.g.) a LoRa module. When VCCIO is 3.3V, we recommend limiting the current draw from VCCIO to 200mA maximum. The upstream 3.3V regulator is rated at 600mA but it also provides power for the mosaic-T and Ethernet PHY. When VCCIO is set to 5V, the current draw can be higher - the suggested maximum is 500mA.
The mosaic-T EVENTA and EVENTB inputs can be used to mark or timestamp external events:
+| Terminal | +Function | +
|---|---|
| EVENTA | +Event A : Input | +
| EVENTB | +Event B : Input | +
Tip
+The EVENT voltage level is set by the VCCIO voltage selection switch.
+Tip
+The EVENT inputs are pulled low internally. Pull up to VCCIO to trigger an event.
+Tip
+An easy way to observe the events is with RxTools RxControl Expert Console (under Tools) ExEvent tab:
+
+
The mosaic-T PPS is a configurable Pulse-Per-Second output. By default, PPS is high for 5ms at 1Hz. The polarity, frequency and pulse width can be adjusted through the ESP32 firmware settings.
+Tip
+The PPS pulses are disabled initially and only enabled when the TCXO oscillator is locked to the correct frequency. See Oscillator for more details.
+| Terminal | +Function | +
|---|---|
| PPS | +Pulse-Per-Second : Output | +
Tip
+The PPS voltage is set by the VCCIO voltage selection switch.
+There are six status LEDs on the RTK mosaic-T:
+PWR - Power (Red)LOG - µSD Logging (Red)LOCK - Oscillator Lock (Green)PVT - Position Velocity Time (Green)ERROR - GNSS Error (Yellow)RTK - Real-Time Kinematic (Yellow)
The status indicator LEDs on the RTK mosaic-T.
+
The status indicator LEDs on the RTK mosaic-T PCB.
+The RTK mosaic-T has a 128x64 pixel OLED display, controlled by the ESP32 via I2C. After some initial diagnostic messages, the display will show position, time and other data from the mosaic-T PVTGeodetic, ReceiverTime and IPStatus SBF blocks.
+
The OLED display on the RTK mosaic-T.
+
OLED display (PNG) for the RTK mosaic-T.
+The display is updated on arrival of the ReceiverTime message. You may see a small lag between the display and the actual time system time, but it will be minimal.
+There are three buttons on the RTK mosaic-T: RESET, BOOT, and LOG.
+
Buttons on the RTK mosaic-T.
+
Buttons on the RTK mosaic-T PCB.
+Once a logging stream is defined, users can control the data logging operation through the LOG button.
+LOG LED will flash while logging is taking place.Instructional Video
+How to log data to the SD card of the Septentrio mosaic receiver module
+The RESET button allows users to reset the firmware running on the ESP32-WROVER module without disconnecting the power.
+The BOOT button can be used to force the ESP32 into the serial bootloader. Holding down the BOOT button, while connecting the RTK mosaic-T to a computer through its USB-C connector or resetting the board will cause it to enter the Firmware Download mode. The ESP32 will remain in this mode until it power cycles (happens automatically after uploading new firmware) or the RESET button is pressed.
+Check out our Jumper Pads and PCB Traces tutorial for a quick introduction!
+How to Work with Jumper Pads and PCB Traces
+There are several jumpers on the RTK moasic-T PCB which can be used to (e.g.) disable the LEDs or allow measurement of the board's current draw.
+
The jumpers on the top of the RTK mosaic-T PCB.
+
The jumpers on the bottom of the RTK mosaic-T PCB.
+
+ RTK mosaic-T
+ SKU: GPS-26289
+
Purchase from SparkFun
+Designed and manufactured in Boulder, Colorado, USA, the SparkFun RTK mosaic-T is the perfect solution for your high-precision timing needs. Based around the multi-constellation, multi-frequency, L5-ready mosaic-T from Septentrio, this is our most accurate GNSS timing product to date. It features a SiTime SiT5358 disciplined 10MHz Digitally-Controlled Temperature-Controlled Crystal Oscillator (DCTCXO) providing excellent clock accuracy, stability and holdover. The mosaic-T also has built-in on-module support for the Fugro AtomiChron L-band timing service.
+Under the hood, the RTK mosaic-T is based on the mosaic-T GNSS module from Septentrio, plus the Espressif ESP32-WROVER processor (16MB flash, 8MB PSRAM). The mosaic-T has USB-C connectivity (with Ethernet-over-USB), multiple UARTs and supports full Ethernet connectivity. You can connect the mosaic-T directly to your Ethernet network - our product supports Power-over-Ethernet too. The ESP32 rides shotgun, disciplining the DCTCXO and controlling the OLED display. The RTK mosaic-T has multiple power options including USB-C, PoE and 9V-36V DC, making it easy to connect it to a battery-backed supply. Robust SMA connections and screw cage terminals provide access to the Pulse-Per-Second and 10MHz clock signals.
+RTK Base
+The mosaic-T is a superb GNSS module designed for highly accurate timing applications. It can be configured as a RTK Rover and will make use of incoming RTCM corrections. But it can not be configured as a RTK Base. RTCM output is not supported.
+Below is a simple comparison table between our breakout board and Septentrio's development and evaluation kits:
+| + |
+ mosaic-T Development Kit + + 
+ |
+
+ mosaic-go Evaluation Kit + + 
+ |
+
+ mosaic-X5 GNSS Breakout + + 
+ |
+
+ RTK mosaic-X5 + + 
+ |
+
+ RTK mosaic-T + +
+ |
+
|---|---|---|---|---|---|
| RTK Rover | +Yes | +Yes | +Yes | +Yes | +Yes | +
| RTK Base | +Yes | +Yes | +Yes | +Yes | +No | +
| GNSS Antenna | +Dual | +
+ Single (mosaic-X5) + Dual (mosaic-H) + |
+ Single | +Single | +Single | +
| USB Connector | +micro-B | +micro-B | +Type-C | +Type-C | +Type-C | +
| Ethernet | +
+ Yes + 10/100 Base-T + |
+ No | +No | +
+ Yes + 10/100 Base-T + |
+
+ Yes + 10/100 Base-T + |
+
| WiFi | +No | +No | +No | +
+ Yes - Network Bridge + 10 Base-T + |
+ No | +
| COM Ports | +4 | +2 | +4 | +
+ 1 - mosaic-X5 + 1 - ESP32 + |
+
+ 1 - mosaic-T + 1 - ESP32 + |
+
| µSD Card Slot | +Yes | +Yes | +Yes | +Yes | +Yes | +
| Reset/Log Buttons | +Yes | +No* | +Yes | +Yes | +Yes | +
| Logic-Level | +
+ 1.8V + 3.3V + |
+ 3.3V | +3.3V | +
+ 3.3V + 5V + |
+
+ 3.3V + 5V + |
+
| PPS Signal | +Header Pin | +6-Pin JST Connector | +SMA Connector | +Screw Terminal | +
+ Screw Terminal + SMA Connector + |
+
| 10MHz Signal | +No | +No | +No | +No | ++ SMA Connector + | +
| Enclosure Material | +N/A | +Metal | +N/A | +Aluminum | +Aluminum | +
| Dimensions | +N/A | +71 x 59 x 12mm ± 1mm | +70.9 x 50.8 x 8mm | +
+ 180.6 x 101.8 x 41mm + Enclosure Only + |
+
+ 180.6 x 101.8 x 41mm + Enclosure Only + |
+
| Weight | +N/A | +58g ± 1g | +22.6g | +
+ 415.15g + Enclosure Only + |
+
+ 415.15g + Enclosure Only + |
+
mosaic-go Evaluation Kit
+The reset pin is exposed on 4-pin JST connector and the log pin is connected to the latch pin of the SD card slot.
+The RTK mosaic-T comes with everything you need to get up and running.
+Kit Contents
+
Everything that is included in the RTK mosaic-T kit.
+Mounting Hardware
+This kit does not include any mounting hardware for the antenna. If you wish to permanently mount the antenna outside, we recommend the following products:
+ +Your RTK mosaic-T is equally at home on your desk, lab bench or in a server rack. But you're still going to want to put the GNSS antenna outdoors, so it will have the best view of the sky. Some extra SMA extension cables may be useful and we have good quality low-loss RG58 cables available in the store. The GNSS SMA antenna connection is standard polarity.
+Interface Cable - SMA Female to SMA Male (10m, RG58)
+CAB-21281
Tip
+Use this extension cable for the GNSS antenna. This cable will not work with the WiFi/BLE antenna due to the polarity of the connectors.
+Interface Cable - RP-SMA Male to RP-SMA Female (10M, RG58)
+CAB-22038
Tip
+Use this extension cable for the ESP32 WiFi/BLE antenna. This cable will not work with the GNSS antenna due to the polarity of the connectors. WiFi/BLE is not supported by the current firmware.
+The RTK mosaic-T comes in a beautiful custom extruded aluminum enclosure, with machined end panels and matching stickers. The slotted flanges make it easy to install and secure the enclosure in many locations. But the enclosure only provides limited protection against the ingress of dust and water; it is designed to IP42. So, if you are going to permanently install it up on the roof too, you're going to need a suitable weatherproof box. We found a good one - the Orbit 57095 - also available from Amazon - back when we put together our very first DIY GNSS Reference Station.
+How to Build a DIY GNSS Reference Station
+AC Not Required!
+The Orbit enclosure comes with a built-in power outlet, but you don't need it! The RTK mosaic-T can be powered by Power-over-Ethernet (PoE), meaning all you really need to run up to the roof is a standard 8-core CAT-6 Ethernet cable. Choose a PoE Ethernet Switch that meets your needs. We have had good experiences with the TP-Link TL-SG1005P - available from many retailers including Amazon.
+As a more sophisticated product, we will skip over the more fundamental tutorials (i.e. Ohm's Law and What is Electricity?). However, below are a few tutorials that may help users familiarize themselves with various aspects of the board.
+GPS Basics
+What is GPS RTK?
+Setting up a Rover Base RTK System
+How to Build a DIY GNSS Reference Station
+mosaic-X5 GNSS Breakout Board Hookup Guide
+Qwiic OLED 1.3" Hookup Guide
+How to Install CH340 Drivers
+Serial Terminal Basics
+Logic Levels
+I2C
+Serial Communication
+How to Work with Jumper Pads and PCB Traces
+Additionally, users may be interested in these blog post articles on GNSS technologies:
+ +
SiT5358 TCXO Oscillator.
+For the best frequency accuracy, stability and holdover, the RTK mosaic-T utilizes a SiTime SiT5358 Digitally-Controlled Temperature-Controlled Crystal Oscillator (DCTCXO). +The SiT5358 is a precision MEMS Super-TCXO optimized for ±50 ppb stability from -40°C to 105°C. Engineered for best dynamic performance, it is ideal for high reliability telecom, wireless and networking, industrial, precision GNSS and audio/video applications.
+The SiT5358 is interfaced to the mosaic-T through a level-shifting buffer, replacing the mosaic's internal oscillator and allowing the oscillator frequency to be tuned (disciplined) under software control. The 10 MHz SMA output is generated by a duplicate level-shifter to ensure an equal delay, and filtered through a 3rd order Butterworth bandpass filter.
+The SiT5358 is interfaced to the mosaic-T according to Appendix D of the mosaic Hardware Manual: "mosaic-Based Disciplined Clock".
+The ESP32 is interfaced to two of the mosaic-T's COM (UART) ports: COM1 and COM4. The ESP32 configures the mosaic-T via COM4. COM1 is dedicated as an output port for the SBF blocks used to tune the oscillator frequency.
+When the firmware boots, the mosaic-T is configured as follows:
+These commands configure the mosaic so that it: starts-up with the PPS pulses disabled; performs an initial precise synchronization to GNSS time; and outputs the PVTGeodetic and ReceiverTime blocks on COM1 at 1Hz. IPStatus is output each time one or more IP parameters change. With a Fugro Atomichron subscription, the FugroTimeOffset message will be generated each time one of the clock biases changes.
+The firmware monitors the message blocks on COM1. The ERROR LED follows the PVTGeodetic Error code. The LED is extinguished when Error is zero.
+The firmware waits until the ReceiverTime SyncLevel FINETIME bit is set, indicating that the receiver time initialization is complete. Once the FINETIME bit is set, it remains set until the next reset of the receiver.
+The firmware then monitors the PVTGeodetic RxClkBias (as 64-bit float in milliseconds). When RxClkBias is positive, receiver time is ahead of system time and the oscillator frequency should be reduced. When RxClkBias is negative, receiver time is behind system time and the oscillator frequency should be increased. The firmware will adjust the SiT5358 oscillator frequency via the 26-bit Digital Frequency Control register accordingly. As per Appendix D, the frequency will be changed by no more than 3ppb per second.
+The Proportional (P) and Integral (I) terms can be adjusted via the ESP32 firmware settings.
+The LOCK LED will illuminate and PPS pulses will be generated when RxClkBias is less than 10ns. The OLED will show PPS On when pulses are being generated.
+The 10ns lock threshold / limit can be changed by the user through the ESP32 USB-C interface and saved in non-volatile memory.
+The Pulse-Per-Second parameters can also be configured by the user through the USB-C interface: interval, polarity, delay, time scale, max sync age, pulse width.
+Should PVTGeodetic Error indicate an error (i.e. become non-zero), the loop will continue but no changes will be made to the oscillator frequency until the error is cleared.
+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.
+ + + + + + + + + + + + + + + + + + + + + + + + + +
+ RTK mosaic-T
+ SKU: GPS-26289
+
Purchase from SparkFun
+Designed and manufactured in Boulder, Colorado, USA, the SparkFun RTK mosaic-T is the perfect solution for your high-precision timing needs. Based around the multi-constellation, multi-frequency, L5-ready mosaic-T from Septentrio, this is our most accurate GNSS timing product to date. It features a SiTime SiT5358 disciplined 10MHz Digitally-Controlled Temperature-Controlled Crystal Oscillator (DCTCXO) providing excellent clock accuracy, stability and holdover. The mosaic-T also has built-in on-module support for the Fugro AtomiChron L-band timing service.
+Under the hood, the RTK mosaic-T is based on the mosaic-T GNSS module from Septentrio, plus the Espressif ESP32-WROVER processor (16MB flash, 8MB PSRAM). The mosaic-T has USB-C connectivity (with Ethernet-over-USB), multiple UARTs and supports full Ethernet connectivity. You can connect the mosaic-T directly to your Ethernet network - our product supports Power-over-Ethernet too. The ESP32 rides shotgun, disciplining the DCTCXO and controlling the OLED display. The RTK mosaic-T has multiple power options including USB-C, PoE and 9V-36V DC, making it easy to connect it to a battery-backed supply. Robust SMA connections and screw cage terminals provide access to the Pulse-Per-Second and 10MHz clock signals.
+RTK Base
+The mosaic-T is a superb GNSS module designed for highly accurate timing applications. It can be configured as a RTK Rover and will make use of incoming RTCM corrections. But it can not be configured as a RTK Base. RTCM output is not supported.
+Below is a simple comparison table between our breakout board and Septentrio's development and evaluation kits:
+| + |
+ mosaic-T Development Kit + +
+ |
+
+ mosaic-go Evaluation Kit + +
+ |
+
+ mosaic-X5 GNSS Breakout + +
+ |
+
+ RTK mosaic-X5 + +
+ |
+
+ RTK mosaic-T + +
+ |
+
|---|---|---|---|---|---|
| RTK Rover | +Yes | +Yes | +Yes | +Yes | +Yes | +
| RTK Base | +Yes | +Yes | +Yes | +Yes | +No | +
| GNSS Antenna | +Dual | +
+ Single (mosaic-X5) + Dual (mosaic-H) + |
+ Single | +Single | +Single | +
| USB Connector | +micro-B | +micro-B | +Type-C | +Type-C | +Type-C | +
| Ethernet | +
+ Yes + 10/100 Base-T + |
+ No | +No | +
+ Yes + 10/100 Base-T + |
+
+ Yes + 10/100 Base-T + |
+
| WiFi | +No | +No | +No | +
+ Yes - Network Bridge + 10 Base-T + |
+ No | +
| COM Ports | +4 | +2 | +4 | +
+ 1 - mosaic-X5 + 1 - ESP32 + |
+
+ 1 - mosaic-T + 1 - ESP32 + |
+
| µSD Card Slot | +Yes | +Yes | +Yes | +Yes | +Yes | +
| Reset/Log Buttons | +Yes | +No* | +Yes | +Yes | +Yes | +
| Logic-Level | +
+ 1.8V + 3.3V + |
+ 3.3V | +3.3V | +
+ 3.3V + 5V + |
+
+ 3.3V + 5V + |
+
| PPS Signal | +Header Pin | +6-Pin JST Connector | +SMA Connector | +Screw Terminal | +
+ Screw Terminal + SMA Connector + |
+
| 10MHz Signal | +No | +No | +No | +No | ++ SMA Connector + | +
| Enclosure Material | +N/A | +Metal | +N/A | +Aluminum | +Aluminum | +
| Dimensions | +N/A | +71 x 59 x 12mm ± 1mm | +70.9 x 50.8 x 8mm | +
+ 180.6 x 101.8 x 41mm + Enclosure Only + |
+
+ 180.6 x 101.8 x 41mm + Enclosure Only + |
+
| Weight | +N/A | +58g ± 1g | +22.6g | +
+ 415.15g + Enclosure Only + |
+
+ 415.15g + Enclosure Only + |
+
mosaic-go Evaluation Kit
+The reset pin is exposed on 4-pin JST connector and the log pin is connected to the latch pin of the SD card slot.
+The RTK mosaic-T comes with everything you need to get up and running.
+Kit Contents
+
Everything that is included in the RTK mosaic-T kit.
+Mounting Hardware
+This kit does not include any mounting hardware for the antenna. If you wish to permanently mount the antenna outside, we recommend the following products:
+ +Your RTK mosaic-T is equally at home on your desk, lab bench or in a server rack. But you're still going to want to put the GNSS antenna outdoors, so it will have the best view of the sky. Some extra SMA extension cables may be useful and we have good quality low-loss RG58 cables available in the store. The GNSS SMA antenna connection is standard polarity.
+Interface Cable - SMA Female to SMA Male (10m, RG58)
+CAB-21281
Tip
+Use this extension cable for the GNSS antenna. This cable will not work with the WiFi/BLE antenna due to the polarity of the connectors.
+Interface Cable - RP-SMA Male to RP-SMA Female (10M, RG58)
+CAB-22038
Tip
+Use this extension cable for the ESP32 WiFi/BLE antenna. This cable will not work with the GNSS antenna due to the polarity of the connectors. WiFi/BLE is not supported by the current firmware.
+The RTK mosaic-T comes in a beautiful custom extruded aluminum enclosure, with machined end panels and matching stickers. The slotted flanges make it easy to install and secure the enclosure in many locations. But the enclosure only provides limited protection against the ingress of dust and water; it is designed to IP42. So, if you are going to permanently install it up on the roof too, you're going to need a suitable weatherproof box. We found a good one - the Orbit 57095 - also available from Amazon - back when we put together our very first DIY GNSS Reference Station.
+How to Build a DIY GNSS Reference Station
+AC Not Required!
+The Orbit enclosure comes with a built-in power outlet, but you don't need it! The RTK mosaic-T can be powered by Power-over-Ethernet (PoE), meaning all you really need to run up to the roof is a standard 8-core CAT-6 Ethernet cable. Choose a PoE Ethernet Switch that meets your needs. We have had good experiences with the TP-Link TL-SG1005P - available from many retailers including Amazon.
+As a more sophisticated product, we will skip over the more fundamental tutorials (i.e. Ohm's Law and What is Electricity?). However, below are a few tutorials that may help users familiarize themselves with various aspects of the board.
+GPS Basics
+What is GPS RTK?
+Setting up a Rover Base RTK System
+How to Build a DIY GNSS Reference Station
+mosaic-X5 GNSS Breakout Board Hookup Guide
+Qwiic OLED 1.3" Hookup Guide
+How to Install CH340 Drivers
+Serial Terminal Basics
+Logic Levels
+I2C
+Serial Communication
+How to Work with Jumper Pads and PCB Traces
+Additionally, users may be interested in these blog post articles on GNSS technologies:
+ +Directions
+This quick start guide is intended to help users get started with their RTK mosaic-T, without having to review the technical details of the product. It includes the minimum instructions to initially set up the RTK mosaic-T, depending on the primary interface that users would like to utilize:
+Instructions to connect the RTK mosaic-T to a network with an ethernet cable. This will provide the mosaic-T with network connectivity for its web server. Users can then pull up the configuration web page from any computer connected to that network.
+For users that just want to interface and set up the RTK mosaic-T, directly through their computer.
+For users that want to configure the RTK mosaic-T firmware, using a terminal emulator on their computer.
+
+
For users who have lost the pamphlet in their kit, please check out the links below to download the *.pdf file:
+
+ 
+ 
+ 
+ 
+ 
+ 
+ 
+ 
+ 
+ 
+ 
+ 
+ 
+ 
+ 
+ 
+ 
+ 
+ 
+ 
+ *.pdf file of the quick start pamphlet.
+The simplest way to get your RTK mosaic-T up and running is to connect it to your Ethernet network or an Ethernet port on your broadband router:
+
+
1 - Connect the GNSS antenna2 - Connect the RTK mosaic-T to your Ethernet network or router3 - Provide powerOnce the mosaic-T has acquired a satellite signal and is connected to the Ethernet network, the OLED will display: the date and time; the antenna's position as Latitude (Lat) and Longitude (Long); the Ethernet IP (Internet Protocol) network address.
+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.
+
+
Not working?
+The following sections will help if your RTK mosaic-T is not working as expected:
+The red power (PWR) LED will light up when the RTK mosaic-T has power. If the PWR LED is off, make sure the wall adapter has power and the USB cable is connected.
+If you use your own Ethernet cable for Power-over-Ethernet, check it has all eight pins connected. Some cables only have four pins connected and do not support Power-over-Ethernet.
+The OLED display will only show position information (Lat, Long etc.) once a satellite signal has been acquired. If you don't see these on the display, check the SMA to TNC cable is connected correctly and that the antenna is outside with a clear view of the sky. Use a male-female SMA extension cable if needed to increase the cable length.
+Check the Ethernet interface is enabled. It may be disabled. Connect via the CONFIG MOSAIC USB-C port and open 192.168.3.1 on a web browser. Check the Communication Ethernet sub-page.
+
+
+
By default, the mosaic-T Ethernet port is configured for Dynamic Host Configuration Protocol (DHCP). It expects the router / Ethernet switch to provide it with an IP address. If the IP address is all zeros (0.0.0.0), check that your router has DHCP enabled. Most do.
+If you need a static IP address, you can configure this through the mosaic-T's Communication Ethernet sub-page.
+Subnet 3 is reserved for the mosaic-T's USB-C connection (Ethernet-over-USB). If your router / switch is allocating addresses using subnet 3 (192.168.3.***), please change its settings so it uses a different subnet.
+If you can not see the mosaic-T's internal web page, please check that your computer / tablet / phone is connected to the same network. Most broadband routers support both Ethernet and WiFi simultaneously using the same subnet. If you are using a phone, check it is connected to the router WiFi - and not using its mobile data connection.
+Subnet 3 is reserved for the mosaic-T's USB-C connection (Ethernet-over-USB). If your router / switch is allocating addresses using subnet 3 (192.168.3.***), please change its settings so it uses a different subnet. If it is using subnet 3, both the mosaic-T and your device will appear to have valid IP addresses but will not be able to communicate.
+The mosaic-T has a built-in high-speed USB port which supports Ethernet-over-USB. To take advantage of this interface, you first need to install the Septentrio drivers.
+
+
1 - Connect the GNSS antenna2 - Download and install Septentrio RxTools3 - Connect the RTK mosaic-T to your computer4 - Open the web pageYou can now use the RxTools suite to take full advantage of the sophisticated mosaic-T.
+Not working?
+The following sections will help if your RTK mosaic-T is not working as expected:
+The red power (PWR) LED will light up when the RTK mosaic-T has power. If the PWR LED is off, make sure the USB cable is connected.
+The OLED display will only show position information (Lat, Long, Alt etc.) once a satellite signal has been acquired. If you see only an IP address on the display, check the SMA to TNC cable is connected correctly and that the antenna is outside with a clear view of the sky. Use a male-female SMA extension cable if needed to increase the cable length.
+If you can not see the mosaic-T's internal web page at 192.168.3.1, please check that your computer / tablet / phone is connected correctly to the USB-C port.
+Subnet 3 is reserved for the mosaic-T's USB-C connection (Ethernet-over-USB). If your computer is simultaneously connected to an Ethernet or WiFi network that also uses subnet 3 (192.168.3.***), please change the network settings so it uses a different subnet.
+The SparkFun RTK mosaic-T contains an ESP32-WROVER microcontroller module. You can connect to its console through the CONFIG ESP32 USB-C connector.
+
+
1 - Connect the GNSS antenna2 - Download and install a terminal emulator like Tera Term3 - Connect the RTK mosaic-T to your computer4 - Open the terminal emulatorNot working?
+The following sections will help if your RTK mosaic-T is not working as expected:
+The red power (PWR) LED will light up when the RTK mosaic-T has power. If the PWR LED is off, make sure the USB cable is connected.
+The OLED display will only show position information (Lat, Long, Alt etc.) once a satellite signal has been acquired. If you see only an IP address on the display, check the SMA to TNC cable is connected correctly and that the antenna is outside with a clear view of the sky. Use a male-female SMA extension cable if needed to increase the cable length.
+If you can not see the debug messages and configuration menu in the terminal emulator, check that: you have installed the CH340 driver if needed; you are connected to the CH340 COM port; you have selected 115200 as the baud rate.
+Read Before Handling PCB!
+ESD Sensitivity
+The mosaic-T module is sensitive to ESD. Use a proper grounding system to make sure that the working surface and the components are at the same electric potential.
+As recommended by the manufacturer, we highly encourage users to take the necessary precautions to avoid damaging their module.
+iFixit Anti-Static Wrist Strap
+TOL-25572
ESP32 Firmware
+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.
+The /Firmware/Binaries folder contains the firmware binaries.
+You can update or reload the firmware using the SparkFun RTK Firmware Uploader.
+You can of course modify the hardware too, should you want to. The design is completely open-source.
+In this section, we walk you through the hardware design, interfaces, I/O connections, power options and more.
+Users can download the full schematic for the RTK mosaic-T in *.pdf format.
Details about the aluminum enclosure can be found on the Metal Enclosure - Custom Aluminum Extrusion (6in. x 4in. PCB) product page.
+
+
The circuit board dimensions are illustrated in the drawing below; the listed measurements are in inches.
+
+
For more information about the board's dimensions, users can download the KiCad files for the board. These files can be opened in KiCad 8 and additional measurements can be made with the dimensions tool.
+The dimensions and technical specifications of the GNSS antenna can be found on the GNSS Multi-Band L1/L2/L5 Surveying Antenna - TNC (SPK6618H) product page.
+
+
+Source: SPK6618H Datasheet (PDF)
+
The mosaic-T and the ESP32 both required 3.3V power. To simplify the power circuitry, the four power sources are combined into a common 5V rail which then feeds individual 3.3V regulators for the mosaic-T and the ESP32.
+
Power connections on the RTK mosaic-T PCB.
+The RTK mosaic-T can be powered individually or in combination, with any of the following:
+USB Ports - 5V; delivered via the MOSAIC CONFIG and/or ESP32 CONFIG USB-C connectors.Power-over-Ethernet - Range: 36 to 57V; delivered via the MOSAIC ETHERNET RJ45 MagJack connector.External DC Power - Range: 9 to 36V; delivered via the VIN+ and VIN- screw cage terminals.If you want to measure the board's current draw, you can open the MEAS jumper and measure the current via a pair of breakout pads (see the Jumpers section).
Diodes are used to combine and protect the power sources from each other. Also, a 2A resettable fuse (green) provides additional protection.
+Info
+For more details, users can reference the schematic and the datasheets of the individual components on the board.
+The mosaic-T and ESP32 both have USB-C connections. These USB ports can be used to power the RTK mosaic-T during the initial configuration when the mosaic-T or ESP32 are connected to a computer.
+
+
+
CH340 Driver
+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 section).
+The mosaic-T Ethernet port supports Power-over-Ethernet (PoE), allowing the RTK mosaic-T to be powered by the network. This is very useful when the RTK mosaic-T is mounted remotely - perhaps in a weatherproof box up on the roof. Data and power can be delivered through a single cable, avoiding the need for a separate power connection.
+
+
+
The RTK mosaic-T includes a fully-isolated DC-DC converter, for applications where you may want to power the unit from a vehicle. The DC-DC converter accepts DC voltages between 9V and 36V, regulating this down to 5V. The converter is fully isolated to 1.5kV and operates with ~90% efficiency.
+
+VIN+ and VIN- screw terminal pins for the external DC power input.
+
For 12V or 24V vehicle power:
+VIN+ screw cage terminalVIN- screw cage terminalPower Source
+Additionally, make sure that the power source from the vehicle is not directly tied to the vehicle's battery, Always On, or accessory circuits. Otherwise, users will risk draining the battery while the engine is off.
We recommend locating the ignition on or switched power circuit, which is only powered when the key is in the On position and the engine is running.
Note
+The On position, is where a key normally rests after the engine is started. However, users can still move the key from the Off position and into the On position without starting the engine. In this case, the alternator is not running and keeping the battery charged.
Modern eco-efficient vehicles may automatically shut down the engine if the vehicle is idling too long. Therefore, cutting off the vehicle's alternator that keeps the battery charged. Luckily, most vehicles with this automatic start/stop technology will monitor the battery's voltage and restart the engine when required. With this in mind, users may want to initially monitor their battery voltage, in case their vehicle isn't "so smart" .
If desired, users can link VIN- to the adjacent GND screw cage terminal. However, this will bypass the voltage isolation and could introduce an unwanted ground loop, particularly if the GNSS antenna ground (shield, 0V) is also connected to the chassis.
The heart of our product is of course the mosaic-T GNSS module from Septentrio. It is a very sophisticated chip with multiple interfaces: UARTS, USB and Ethernet. The COM3 UART pins, plus GPIO1 and GPIO2, are available as 0.1" test points should you need access to them.
The Septentrio mosaic-T GNSS module.
+The ESP32 processor is there to control (discipline) the 10 MHz TCXO oscillator and the OLED display. We have deliberately kept the ESP32 firmware as simple as possible. The intention is that you can write your own firmware using the Espressif IDF or Arduino IDE if you need to. The ESP32-WROVER-IE antenna is connected to the ESP32 RP SMA connector on the rear panel but it is unused by the SparkFun firmware.
+
The Espressif ESP32-WROVER processor.
+Think of the ESP32 as a co-processor, or riding shotgun... The mosaic-T COM1 and COM4 UARTs are linked to the ESP32, allowing the two to communicate directly without needing an Ethernet link. In our firmware, the PVTGeodetic and ReceiverTime messages are output on COM1. The ESP32 displays some of their content on the I2C OLED display, and then uses the content to discipline the TCXO oscillator. See Oscillator for more details.
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.
+The /Firmware/Binaries folder contains the firmware binaries.
+You can update or reload the firmware using the SparkFun RTK Firmware Uploader.
+The mosaic-T has a KSZ8041NLI Ethernet PHY interface, connected using a Reduced Media-Independent Interface (RMII).
+
Ethernet (PoE) conection.
+
The Ethernet PHY on the RTK mosaic-T PCB.
+Check the Ethernet interface is enabled. It may be disabled. Connect via the CONFIG MOSAIC USB-C port and open 192.168.3.1 on a web browser. Check the Communication Ethernet sub-page.
+
+
+
By default, the mosaic-T Ethernet port is configured for Dynamic Host Configuration Protocol (DHCP). It expects the router / Ethernet switch to provide it with an IP address. If the IP address is all zeros (0.0.0.0), check that your router has DHCP enabled. Most do.
+If you need a static IP address, you can configure this through the mosaic-T's Communication Ethernet sub-page.
+Subnet 3 is reserved for the mosaic-T's USB-C connection (Ethernet-over-USB). If your router / switch is allocating addresses using subnet 3 (192.168.3.***), please change its settings so it uses a different subnet.
+The mosaic-T and ESP32 both have USB-C connections. The MOSAIC USB port is high-speed and connected to the T through a balancing transformer. The ESP32 USB port is connected through a CH340 USB-UART IC.
+
USB-C connections: mosaic-T (left) and ESP32 (right).
+
The USB-C data connections on the RTK mosaic-T PCB.
+Info
+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.
+CH340 Driver
+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 section).
+The µSD socket is connected directly to the mosaic-T via a one-bit SDIO interface for fast data logging. The mosaic-T supports µSD cards with a FAT32 file system (i.e. only cards up to 32GB in size).
+
µSD slot and LOG button.
+
µSD socket and Log button on the RTK mosaic-T PCB.
+Initial Configuration
+Before logging can take place, it is necessary to define a "logging stream" using the Logging page or RxTools. Streams can contain NMEA or SBF (Septentrio Binary Format) data; SBF can contain RTCM and/or RINEX.
+
+
Instructional Video
+How to log data to the SD card of the Septentrio mosaic receiver module
+Once the stream is defined, users can control the data logging operation through the LOG button.
+LOG LED will flash while logging is taking place.The RTK mosaic-T has robust SMA connectors for the mosaic-T GNSS antenna, 50 Ohm Pulse-Per-Second, 10 MHz disciplined sine wave, and the ESP32 WiFi / BT antenna.
+
The SMA connector for the GNSS antenna.
+
The connection for the GNSS antenna to the mosaic-T.
+The mosaic-T GNSS SMA connector is standard polarity and provides 5V power for an active antenna.
+
The SMA connector for the 50 Ohm Pulse-Per-Second output.
+
The connection for the 50 Ohm Pulse-Per-Second output.
+The Pulse-Per-Second SMA connector is standard polarity. The output impedance is 50 Ohm. The voltage is selectable via the VCCIO switch: 3.3V or 5V. The output is DC-coupled.
+
The SMA connector for the 50 Ohm disciplined 10 MHz sine wave output.
+
The connection for the 50 Ohm disciplined 10 MHz sine wave output.
+The 10 MHz sine wave SMA connector is standard polarity. The output impedance is 50 Ohm. The voltage is adjustable via the VCCIO switch. The output is AC-coupled and is approximately 1VPP.
+
The RP-SMA connector for the WiFi/BLE antenna.
+
The connection for the WiFi / BLE antenna to the ESP32.
+The ESP32 WiFi / BT SMA connector is reverse-polarity (RP). A short u.FL cable connects the SMA connector to the ESP32-WROVER itself.
+Note: this connector is not used by the current RTK mosaic-T firmware. It is there in case you want to develop your own firmware with WiFi / BT connectivity.
+Connector Polarity
+When selecting antennas and/or cables for the RTK mosaic-T, double-check the polarity for the connections.
+The RTK moasic-T is equipped with a 10-way 3.5mm screw cage terminal connector.
+
I/O Screw Terminal Connections.
+
I/O Screw Terminal Connections on the RTK mosaic-T PCB.
+These terminals are described in the tabs below. For more information on the I/O terminals, you can refer to the schematic.
+The VIN+ and VIN- terminals allow the RTK mosaic-T to be powered by an external DC power source - typically a 12V / 24V vehicle battery.
| Terminal | +|
|---|---|
| VIN+ | +External voltage: Min: 9V; Max: 36V | +
| VIN- | +Ground / Chassis / 0V | +
Info
+The DC-DC converter in the RTK mosaic-T provides 1.5kV isolation between VIN+/VIN- and 5V/GND. There is no direct electrical connection between VIN- and GND.
Ground Loop
+If desired, users can link VIN- to the adjacent GND screw cage terminal. However, this will bypass the voltage isolation and could introduce an unwanted ground loop, particularly if the GNSS antenna ground (shield, 0V) is also connected to the chassis.
Ground / 0V or logic-low reference.
+Info
+The DC-DC converter in the RTK mosaic-T provides 1.5kV isolation between VIN+/VIN- and 5V/GND. There is no direct electrical connection between GND and VIN-.
Ground Loop
+If desired, users can link GND to the adjacent VIN- screw cage terminal. However, this will bypass the voltage isolation and could introduce an unwanted ground loop, particularly if the GNSS antenna ground (shield, 0V) is also connected to the chassis.
The mosaic-T UART COM2 connections are connected as follows:
+| Terminal | +Notes | +|
|---|---|---|
| RX | +COM2 UART Receive - Input | ++ |
| TX | +COM2 UART Transmit - Output | ++ |
| RTS | +COM2 UART Request To Send - Output | +The module drives this pin low when ready to receive data | +
| CTS | +COM2 UART Clear To Send - Input | +Must be driven low when ready to receive data from the module | +
Tip
+The COM2 I/O voltage is set by the VCCIO voltage selection switch.
+Tip
+The RX and CTS inputs have weak (100K) pull-ups to VCCIO.
+Tip
+The CTS terminal can be configured as a VCCIO power output by soldering the jumper closed on the PCB.
+The CTS terminal can be configured as a VCCIO power output by soldering the jumper closed on the PCB.
+
+
Tip
+Soldering the jumper closed will place the mosaic-T COM2 CTS into the high (not ready) state. Flow control (hardware handshaking) is not possible when the jumper is closed. Flow control is disabled by default. If needed, flow control can be (re)disabled through the web interface or by sending (e.g) scs, COM2, baud115200, bits8, No, bit1, none
+The VCCIO voltage can be set to 3.3V or 5V via the small internal slide switch highlighted below:
+
+
The CTS terminal can then be used as a power output or logic-high references. Likewise, the GND terminal can be used for power return or as logic-low references.
| Terminal | +|
|---|---|
| CTS | +3.3V or 5V power output or logic-high reference | +
| GND | +Ground / 0V or logic-low reference | +
Info
+The default position of the VCCIO switch is 3.3V.
Tip
+The CTS and GND pins could be used to power (e.g.) a LoRa module. When VCCIO is 3.3V, we recommend limiting the current draw from VCCIO to 200mA maximum. The upstream 3.3V regulator is rated at 600mA but it also provides power for the mosaic-T and Ethernet PHY. When VCCIO is set to 5V, the current draw can be higher - the suggested maximum is 500mA.
The mosaic-T EVENTA and EVENTB inputs can be used to mark or timestamp external events:
+| Terminal | +Function | +
|---|---|
| EVENTA | +Event A : Input | +
| EVENTB | +Event B : Input | +
Tip
+The EVENT voltage level is set by the VCCIO voltage selection switch.
+Tip
+The EVENT inputs are pulled low internally. Pull up to VCCIO to trigger an event.
+Tip
+An easy way to observe the events is with RxTools RxControl Expert Console (under Tools) ExEvent tab:
+
+
The mosaic-T PPS is a configurable Pulse-Per-Second output. By default, PPS is high for 5ms at 1Hz. The polarity, frequency and pulse width can be adjusted through the ESP32 firmware settings.
+Tip
+The PPS pulses are disabled initially and only enabled when the TCXO oscillator is locked to the correct frequency. See Oscillator for more details.
+| Terminal | +Function | +
|---|---|
| PPS | +Pulse-Per-Second : Output | +
Tip
+The PPS voltage is set by the VCCIO voltage selection switch.
+There are six status LEDs on the RTK mosaic-T:
+PWR - Power (Red)LOG - µSD Logging (Red)LOCK - Oscillator Lock (Green)PVT - Position Velocity Time (Green)ERROR - GNSS Error (Yellow)RTK - Real-Time Kinematic (Yellow)
The status indicator LEDs on the RTK mosaic-T.
+
The status indicator LEDs on the RTK mosaic-T PCB.
+The RTK mosaic-T has a 128x64 pixel OLED display, controlled by the ESP32 via I2C. After some initial diagnostic messages, the display will show position, time and other data from the mosaic-T PVTGeodetic, ReceiverTime and IPStatus SBF blocks.
+
The OLED display on the RTK mosaic-T.
+
OLED display (PNG) for the RTK mosaic-T.
+The display is updated on arrival of the ReceiverTime message. You may see a small lag between the display and the actual time system time, but it will be minimal.
+There are three buttons on the RTK mosaic-T: RESET, BOOT, and LOG.
+
Buttons on the RTK mosaic-T.
+
Buttons on the RTK mosaic-T PCB.
+Once a logging stream is defined, users can control the data logging operation through the LOG button.
+LOG LED will flash while logging is taking place.Instructional Video
+How to log data to the SD card of the Septentrio mosaic receiver module
+The RESET button allows users to reset the firmware running on the ESP32-WROVER module without disconnecting the power.
+The BOOT button can be used to force the ESP32 into the serial bootloader. Holding down the BOOT button, while connecting the RTK mosaic-T to a computer through its USB-C connector or resetting the board will cause it to enter the Firmware Download mode. The ESP32 will remain in this mode until it power cycles (happens automatically after uploading new firmware) or the RESET button is pressed.
+Check out our Jumper Pads and PCB Traces tutorial for a quick introduction!
+How to Work with Jumper Pads and PCB Traces
+There are several jumpers on the RTK moasic-T PCB which can be used to (e.g.) disable the LEDs or allow measurement of the board's current draw.
+
The jumpers on the top of the RTK mosaic-T PCB.
+
The jumpers on the bottom of the RTK mosaic-T PCB.
+Warning
+When assembling the RTK mosaic-T, users should attach any power connections last. While there shouldn't be any issues with hot-swapping peripherals, it is common practice to power electronics as the last step of the assembly process (and the power should be disconnected before removing components).
+The RTK mosaic-T comes packaged as a complete kit, with all the accessories you'd need to set it up.
+
+
Inside the box, users will find the GNSS antenna, RTK mosaic-T in its aluminum enclosure, and another box containing additional accessories. Inside, the accessory box, users will find the CAT-6 Ethernet cable, USB cable, SMA to TNC cable, USB power supply, WiFi antenna, and 32GB SD card.
+
+
+
The USB ports are utilized to configure the mosaic-T module and ESP32 firmware settings. Additionally, the USB ports can also be used as a power source for the RTK mosaic-T.
+The USB port to the mosaic-T can be used to configure the module through an IP port, for serial communication to stream the GNSS data, and access the SD card as a mass storage device. To connect to the mosaic-T, users only need to plug a USB-C cable into the CONFIG MOSAIC USB port and their computer.
The RTK mosaic-T with USB-C cable being attached.
+With the default firmware, the USB port for the ESP32 is used for serial communication to tune the parameters for the TCXO oscillator and the Pulse-Per-Second output. To configure the settings, users only need to plug a USB-C cable into the CONFIG ESP32 USB port and their computer, and then open a terminal emulator at 115200 baud.
The RTK mosaic-T with USB-C cable being attached.
+Software Requirements
+Depending on their computer's operating system, users may need to install USB drivers to interface with the mosaic-T and/or the ESP32. Users may also need to install a terminal emulator for serial communication with the mosaic-T and the ESP32.
+In order to receive GNSS signals, users will need a compatible antenna. With the parts included in this kit, connect the L1/L2/L5 (tri-band) GNSS antenna to the RTK mosaic-T using the TNC-to-SMA cable.
+
Attaching a tri-band GNSS antenna to the TNC-SMA cable.
+
Attaching a TNC-SMA cable to the SMA connector on the RTK mosaic-T.
+Users should mount their GNSS antenna outside, where it will have a clear, unobstructed view of the sky. Avoid areas with nearby buildings, EMF structures (i.e. radio towers or power lines), and vegetation (i.e. trees). These objects can increase errors due to signal muti-path, interference, and elevated noise plane.
+
+
When selecting antennas and/or cables for the RTK mosaic-T, double-check the polarity of the connection.
+There is a single ethernet jack on the RTK mosaic-T, which can be used to provide network access to the mosaic-T module. It supports power over ethernet (PoE) to power the device.
+The jack to the mosaic-T allows users to provide internet access and power; it supports PoE. To provide network access, users should connect the RTK mosaic-T from the ETHERNET (PoE) jack to their local network with the (CAT-6) ethernet cable provided in the kit.
The RTK mosaic-T with ethernet cable being attached to the ETHERNET (PoE) jack.
Users can configure the mosaic-T module through the network connection.
+Check the Ethernet interface is enabled. It may be disabled. Connect via the CONFIG MOSAIC USB-C port and open 192.168.3.1 on a web browser. Check the Communication Ethernet sub-page.
+
+
+
By default, the mosaic-T Ethernet port is configured for Dynamic Host Configuration Protocol (DHCP). It expects the router / Ethernet switch to provide it with an IP address. If the IP address is all zeros (0.0.0.0), check that your router has DHCP enabled. Most do.
+If you need a static IP address, you can configure this through the mosaic-T's Communication Ethernet sub-page.
+Subnet 3 is reserved for the mosaic-T's USB-C connection (Ethernet-over-USB). If your router / switch is allocating addresses using subnet 3 (192.168.3.***), please change its settings so it uses a different subnet.
+An µSD card slot is available for users to log and store data, locally on the board. Users will need to insert a compatible SD card and configure the mosaic-T module for data logging.
+
Inserting an SD card into the RTK mosaic-T.
+SD Card Compatibility
+The mosaic-T supports µSD cards with a FAT32 file system (i.e. only cards up to 32GB in size).
+Before logging can take place, it is necessary to define a "logging stream" using the Logging page or RxTools. Streams can contain NMEA or SBF (Septentrio Binary Format) data; SBF can contain RTCM and/or RINEX.
+
+
Instructional Video
+How to log data to the SD card of the Septentrio mosaic receiver module
+There are multiple ways to configure and enable data logging to an SD card. However, the simplest method is with the LOG button. Once the stream is defined,
+For more information, please reference the SD Card Slot section.
+Users can easily attach accessories to the RTK mosaic-T by wiring them into the terminal blocks on the back of the enclosure.
+
Connecting a wire to the terminal block.
+For multiple connections or wiring harnesses, users can disconnect the terminal block from its socket on the RTK mosaic-T.
+
+
Users can wiggle or use a soft/rigid object to carefully pry the terminal block off from its connector. In the picture below, a plastic name tag (~1.5mm thick) is used to carefully pry the terminal block up. We have also found the edge of a PCB ruler works great too.
+
+
Once wired up, users can simply push the terminal block back into its socket.
+
+
+
Warning
+To avoid shorts or damaging the RTK mosaic-T, verify the wiring with the labels on the back of the enclosure.
+ESP32 Firmware
+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.
+The /Firmware/Binaries folder contains the firmware binaries.
+You can update or reload the firmware using the SparkFun RTK Firmware Uploader.
+You can of course modify the hardware too, should you want to. The design is completely open-source.
+Note
+The mosaic-T module has numerous capabilities and a multitude of ways to configure and interface with them. Without regurgitating all the information that is documented in Septentrio's user manuals and videos, we have tried to highlight a good majority of the module's aspects.
+With that said, please feel free to file an issue if you feel we have missed something that may benefit other users. (Don't forget to provide us with a link to the documentation and what section the information is located.)
+Tip
+Even if you aren't necessarily interested in it, we highly recommend that users install the RXTools software suite before plugging in their board. For Windows PCs, it also includes the USB driver for the module that enables the Ethernet-over-USB support and virtual COM ports.
Users should install the RXTools software suite on their computer to interact with the mosaic-T module through the USB interface. The software package includes the USB-IP driver1 necessary to recognize the board as an ethernet device on Windows PCs (1).
+bin2asc) will run on older distributions.The minimal hardware requirements (1Hz update3):
+Users can install RxTools software suite by running the installation executable4(1), located in the RxTools\windows directory of the downloaded *.zip file5. During the installation process, users will be notified if a previous version of RxTools is already installed then the previous version will be uninstalled. Next, users will need to provide an installation directory for the RxTools software suite. Users will then select which of the following applications6 are installed:
RxTools_22_1_0_Installer.exe for Windows PCs.Warning
+It is recommended that users NOT install RxControl as root, for security reasons and to avoid installation overwrites of other system settings. To make RxTools available to more than one user, provide a shared installation directory.
Users can install RxTools software suite by running the installation binary4(1), located in the RxTools/linux-i386/ directory of the downloaded *.zip file5. During the installation, users will be prompted for an installation directory. If there are any previous installations of RxControl, please use a different directory to avoid conflicts.
RxTools_22_1_0_Installer.bin for Linux.Once installed, users may need to reconfigure their permission settings:
+RxTools will need rights to access the /dev/ttyS* serial ports.
To access the serial ports, users must be part of the uucp and lock groups (1). This can be configured by editing the /etc/group7 file and adding the username to the lines defining the uucp group and the lock group.
For example, when adding the user jsmith to the uucp group, users would modify the /etc/group file as shown below:
On Linux machine administered centrally on a local network, ask your system administrator to be included in the uucp and lock groups.
RxTools also needs read/write (rw) access(4) to the /dev/ttyS* serial ports.
Users can change the permissions with the chmod8 command:
/dev/ttyS* devices are owned by root and belong to the uucp group with read/write (rw) access. Additionally, the devices are normally locked by writing a file in the /var/lock/ directory, with the same permissions.rw) access to the /dev/ttyS* serial ports./dev/ttyS0 might be port COM1Note
+In order for these changes to take effect, users must update their environment by logging out and back in.
+Be aware that the X-session has to be restarted as well. On most systems, this can be done by pressing the key combination Ctrl + Alt + Backspace
+In order to run the RxTools on a 64-bit Linux operating system, users might have to install the 32-bit version of the C standard library.
glibc.i686 package.ia32-libs package.If users haven't already installed the RxTools software suite on their Windows PC, they will need to install the USB driver1 necessary to recognize and interact with the mosaic-T module through the USB interface.
+A Windows USB driver for the mosaic-T can be installed through two methods:
+Once installed, the driver emulates two virtual serial ports, which can be accessed as standard COM ports to the receiver.
Most terminal emulation programs will not make a distinction between virtual or native COM ports. However, for virtual serial ports, the port settings (i.e. baud rate, etc.) are not relevant and the default configuration is used in the terminal emulation program. However, the physical/native COM ports will have the following default setting:
For users who are having trouble installing the USB driver, we have an archived version (v3.0.29) of the installation file. Users can download version 3.0.2 of the driver, by clicking on the button below.
+On Linux, the standard Linux CDC-ACM driver is suitable for the mosaic-T module.
+With the USB driver installed, the mosaic-T module supports Ethernet-over-USB. The default IP address allocated for the Ethernet-over-USB interface is 192.168.3.1. This IP can be entered in any browser to open a connection to the receiver's Web Interface as shown below.
All the drop-down navigation tabs in the web interface.
+Info
+The default IP address cannot be changed; this feature is only to be used when a single receiver is connected to your computer.
+One of the documentation pages on Septentrio's website, specifies a default IP address of 192.168.20.1 for the web interface. However, that address is for a WiFi enabled product and cannot be used with this product.
Users will need to install a USB driver for the CH340 serial-to-USB chip, in order to communicate with the ESP32 module. The latest USB drivers for the CH340 are available from the manufacturer, on the WCH website:
+For users having trouble installing the CH340 USB driver, check out our video and hookup guide:
+How to Install CH340 Drivers
+In order to configure the firmware settings on the ESP32, users will need to install a serial terminal emulator on their computer.
+For Windows computers, we highly recommend TeraTerm.
+Some Linux operating systems will already have the screen terminal emulator preinstalled.
Need Directions?
+Check out our hookup guide to install your favorite terminal emulator:
+Serial Terminal Basics
+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.
+Without an AtomiChron subscription, the firmware will use the composite GNSS RxClkBias from PVTGeodetic to discipline the TCXO frequency.
+
By default, the Fugro AtomiChron subscription shows as "expired".
+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.
+
The mosaic-T with an active Fugro AtomiChron subscription.
+When connected to the ESP32 CH340 COM port at 115200 baud, pressing any key in the terminal emulator will open the firmware Main Menu:
+
The ESP32 firmware main menu.
+Select option c ("c" followed by "Enter") to configure the firmware:
+
The ESP32 firmware configuration menu.
+To reset all settings to their default values, select "r", "Enter", "y", "Enter"
+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.
+The TCXO frequency control word is saved to NVM once per hour, to allow a quicker startup at the next power-on.
+When TCP Server (IPS1) is enabled, the ESP32 serial console is diverted from the CH340 (USB) interface to the mosaic-T COM3 UART interface. +The serial data is then daisy chained from COM3 to the IPS1 TCP server.
+When TCP Server (IPS1) is enabled, the configuration menu and debug messages can be accessed over TCP / Telnet on the chosen port. The CH340 (USB) interface is then no longer active.
+TCP / Telnet is supported over both Ethernet and the Ethernet-over-USB connection. Only one TCP2Way connection is supported.
+If you are using Tera Term:
+
Tera Term configuration for TCP.
+Select option d ("d" followed by "Enter") to configure the software debug options:
+
The ESP32 firmware debug menu.
+The debug options are what we use at SparkFun to check that the firmware is running correctly. You should not need change any of the options, except perhaps option 8 Print conditions. This option controls the periodic CSV messages seen in the console when the menu is closed. The format can be changed to human-readable text, or the messages can be disabled if desired.
+The format of the Print conditions CSV data is:
+YYYY/MM/DD,HH:MM:SS,Epoch,Lat,Lon,Alt,TimeSys,Error,Fine,PPS,Bias,Source,TCXO,Pk,Ik
+
SiT5358 TCXO Oscillator.
+For the best frequency accuracy, stability and holdover, the RTK mosaic-T utilizes a SiTime SiT5358 Digitally-Controlled Temperature-Controlled Crystal Oscillator (DCTCXO). +The SiT5358 is a precision MEMS Super-TCXO optimized for ±50 ppb stability from -40°C to 105°C. Engineered for best dynamic performance, it is ideal for high reliability telecom, wireless and networking, industrial, precision GNSS and audio/video applications.
+The SiT5358 is interfaced to the mosaic-T through a level-shifting buffer, replacing the mosaic's internal oscillator and allowing the oscillator frequency to be tuned (disciplined) under software control. The 10 MHz SMA output is generated by a duplicate level-shifter to ensure an equal delay, and filtered through a 3rd order Butterworth bandpass filter.
+The SiT5358 is interfaced to the mosaic-T according to Appendix D of the mosaic Hardware Manual: "mosaic-Based Disciplined Clock".
+The ESP32 is interfaced to two of the mosaic-T's COM (UART) ports: COM1 and COM4. The ESP32 configures the mosaic-T via COM4. COM1 is dedicated as an output port for the SBF blocks used to tune the oscillator frequency.
+When the firmware boots, the mosaic-T is configured as follows:
+These commands configure the mosaic so that it: starts-up with the PPS pulses disabled; performs an initial precise synchronization to GNSS time; and outputs the PVTGeodetic and ReceiverTime blocks on COM1 at 1Hz. IPStatus is output each time one or more IP parameters change. With a Fugro Atomichron subscription, the FugroTimeOffset message will be generated each time one of the clock biases changes.
+The firmware monitors the message blocks on COM1. The ERROR LED follows the PVTGeodetic Error code. The LED is extinguished when Error is zero.
+The firmware waits until the ReceiverTime SyncLevel FINETIME bit is set, indicating that the receiver time initialization is complete. Once the FINETIME bit is set, it remains set until the next reset of the receiver.
+The firmware then monitors the PVTGeodetic RxClkBias (as 64-bit float in milliseconds). When RxClkBias is positive, receiver time is ahead of system time and the oscillator frequency should be reduced. When RxClkBias is negative, receiver time is behind system time and the oscillator frequency should be increased. The firmware will adjust the SiT5358 oscillator frequency via the 26-bit Digital Frequency Control register accordingly. As per Appendix D, the frequency will be changed by no more than 3ppb per second.
+The Proportional (P) and Integral (I) terms can be adjusted via the ESP32 firmware settings.
+The LOCK LED will illuminate and PPS pulses will be generated when RxClkBias is less than 10ns. The OLED will show PPS On when pulses are being generated.
+The 10ns lock threshold / limit can be changed by the user through the ESP32 USB-C interface and saved in non-volatile memory.
+The Pulse-Per-Second parameters can also be configured by the user through the USB-C interface: interval, polarity, delay, time scale, max sync age, pulse width.
+Should PVTGeodetic Error indicate an error (i.e. become non-zero), the loop will continue but no changes will be made to the oscillator frequency until the error is cleared.
+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.
+The RTK mosaic-T is L5-capable but, because the GPS L5 service is currently pre-operational and marked as "unhealthy", it takes some extra configuration steps to enable L5:
+Admin > Expert Control > Control Panel > Navigation > Receiver Operation > Masks - Set "Discard unhealthy satellites" to off for both "Tracking" and "PVT"
+
Navigation > Advance User Settings > Tracking > Signal Tracking : Enable GPSL5 signal tracking
+
Navigation > Advance User Settings > PVT > Signal Usage - Enable GPSL5 in both “PVT” and “navigation data decoder”
+
Info
+Make sure to click “OK” at the bottom of each page where you are making changes to update the current configuration, and don’t forget to save it to boot if you want the configuration to persist when you cycle power.
+setHealthMask, Tracking, offsetHealthMask, PVT, offsetSignalTracking, +GPSL5setSignalUsage, +GPSL5, +GPSL5Septentrio also provides great resources for the mosaic-T:
+Recommended Articles
+General Knowledge
+mosaic - Getting started
+Resetting a receiver
+Resetting and clearing the non-volatile memory
+Generating a diagnostic report of a Septentrio receiver
+RTCMv3 messages supported by the Septentrio receivers
+Interference Detection, Mitigation, and Flagging
Providing Corrections
+How to set up a base station
+RTK positioning with a moving baseline
+Set up an (internal) NTRIP caster on a Septentrio receiver
Applying Corrections
+Receive corrections over IP
+ Receive corrections via NTRIP
+Using uBlox's correction services for precise positioning
Antenna Corrections
+ +Recommended Videos
+ Getting started with the mosaic receiver module
+ Output NMEA data on the mosaic receiver module
+ Receiving NTRIP corrections on the mosaic module
+ Logging data to the Septentrio mosaic receiver module
+ Receiving corrections over an IP connection
+ Share the USB internet connection on your receiver
+ Septentrio's Agnostic GNSS Corrections program
+ Test-run for Septentrio's anti-jamming feature
+ mosaic - GNSS module receiver range from Septentrio
Full details about Fugro's AtomiChron time synchronisation service can be found on their website:
+ +Need Help?
+If you need technical assistance or more information on a product that is not working as you expected, we recommend heading over to the SparkFun Technical Assistance page for some initial troubleshooting.
+If you can't find what you need there, the SparkFun GNSS Forum is a great place to ask questions.
+Account Registration Required
+If this is your first visit to our forum, you'll need to create a Forum Account to post questions.
+The RTK mosaic-T comes packaged as a complete kit, with all the accessories you'd need to set it up. Inside the box, users will find the GNSS antenna, RTK mosaic-T in its aluminum enclosure, and another box containing additional accessories. Inside, the accessory box, users will find the CAT-6 Ethernet cable, USB cable, SMA to TNC cable, USB power supply, WiFi antenna, and 32GB SD card.
+
Everything that is included in the RTK mosaic-T kit.
+
The contents of the RTK mosaic-T package.
+
Products in the accessories box.
+If you are missing any of these items, please reach out to us in our forum.
+For data logging issues, here are some simple troubleshooting tips:
+FAT32 file system.FAT32 file system also limits the maximum capacity of the card to less than 32GB (i.e. a 256GB SD card will not work).Got a few dead pixels on your OLED display? Please reach out to us in our forum.
+Is the RTK mosaic-T killing your vehicle's battery?
+Make sure that the external power source for the RTK mosaic-T is not directly tied to the vehicle's battery, Always On, or accessory circuits. Otherwise, users will risk killing the battery while the engine is off. We recommend locating the ignition on or switched power circuit, which is only powered when the key is in the On position and the engine is running.
Note
+The On position, is where a key normally rests after the engine is started. However, users can still move the key from the Off position and into the On position without starting the engine. In this case, the alternator is not running and keeping the battery charged.
Modern eco-efficient vehicles may automatically shut down the engine if the vehicle is idling too long. Therefore, cutting off the vehicle's alternator that keeps the battery charged. Luckily, most vehicles with this automatic start/stop technology will monitor the battery's voltage and restart the engine when required. With this in mind, users may want to initially monitor their battery voltage, in case their vehicle isn't "so smart" .
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 page.
+In case users accidentally reprogram or corrupt the flash memory on the ESP32, the /Firmware/Binaries folder contains the firmware binaries.
+You can update or reload the firmware using the SparkFun RTK Firmware Uploader.
+The full firmware source code is available in our GitHub repository
+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.
+Read Before Disassembly!
+ESD Sensitivity
+The mosaic-T module is sensitive to ESD. Use a proper grounding system to make sure that the working surface and the components are at the same electric potential.
+As recommended by the manufacturer, we highly encourage users to take the necessary precautions to avoid damaging their module.
+iFixit Anti-Static Wrist Strap
+TOL-25572
Before disassembling the enclosure, users should disconnect the power and all cables from the RTK mosaic-T. This will prevent users from creating any shorts and will facilitate the teardown process further on.
+The RTK mosaic-T PCB is held in place by the front and rear panels of the enclosure. While users can remove the panels first, we recommend that users disconnect the screw terminal blocks first. Users may find it more difficult to separate the terminal block from the connector later in the disassembly process.
+Remove the Screw Terminal Block First
+Users may find it easiest to remove the screw terminal blocks first; as opposed to later in the teardown process.
+
+
Users can wiggle or use a soft/rigid object to carefully pry the terminal block off. In the picture above, a plastic name tag (~1.5mm thick) is used to carefully pry the terminal block up. We have also found the edge of a PCB ruler works great too.
+Once the terminal blocks have been removed, users can remove the front and rear panels of the enclosure. They are held in place with four, M3, Phillips head screws on the corners of each panel.
+Tip
+We recommend removing the front panel first to prevent the Qwiic cable from being yanked off the OLED display or main PCB. Once the front panel is free, carefully lift the panel and disconnect the Qwiic cable from the top connector on the OLED display.
+At this point, if users have previously disconnected all the cables and the terminal blocks from the back, the RTK mosaic-T PCB should slide out of the enclosure. Users can then, remove the rear panel from the enclosure to complete the teardown process.
+On Linux, the standard Linux CDC-ACM driver is suitable. ↩↩↩
+The system requirements and installation instructions are from the RxTools v22.1.0 user manual. This information may change in later iterations of the software suite. Please refer to the user manual (of the version you are utilizing) for the most accurate information. ↩↩
+Higher data rates will require higher CPU speed and more memory capacity. ↩
+Users will need administrative privileges to install the RxTools software. ↩↩
+Users may need to extract the RxTools installation files from the downloaded, compressed file. ↩↩
+Please see the release notes for the issues and limitations of the RxTools applications. ↩
+Requires c privileges. ↩
+Changing these permissions also requires root privileges. ↩
For the latest USB driver from Septentrio, please install their driver through the RxTools software suite.
+This driver version was archived at the time that the mosaic-T hookup guide was written. Please do not request for the file to be updated. ↩
Directions
+This quick start guide is intended to help users get started with their RTK mosaic-T, without having to review the technical details of the product. It includes the minimum instructions to initially set up the RTK mosaic-T, depending on the primary interface that users would like to utilize:
+Instructions to connect the RTK mosaic-T to a network with an ethernet cable. This will provide the mosaic-T with network connectivity for its web server. Users can then pull up the configuration web page from any computer connected to that network.
+For users that just want to interface and set up the RTK mosaic-T, directly through their computer.
+For users that want to configure the RTK mosaic-T firmware, using a terminal emulator on their computer.
+
+
For users who have lost the pamphlet in their kit, please check out the links below to download the *.pdf file:
+
*.pdf file of the quick start pamphlet.
+The simplest way to get your RTK mosaic-T up and running is to connect it to your Ethernet network or an Ethernet port on your broadband router:
+
+
1 - Connect the GNSS antenna2 - Connect the RTK mosaic-T to your Ethernet network or router3 - Provide powerOnce the mosaic-T has acquired a satellite signal and is connected to the Ethernet network, the OLED will display: the date and time; the antenna's position as Latitude (Lat) and Longitude (Long); the Ethernet IP (Internet Protocol) network address.
+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.
+
+
Not working?
+The following sections will help if your RTK mosaic-T is not working as expected:
+The red power (PWR) LED will light up when the RTK mosaic-T has power. If the PWR LED is off, make sure the wall adapter has power and the USB cable is connected.
+If you use your own Ethernet cable for Power-over-Ethernet, check it has all eight pins connected. Some cables only have four pins connected and do not support Power-over-Ethernet.
+The OLED display will only show position information (Lat, Long etc.) once a satellite signal has been acquired. If you don't see these on the display, check the SMA to TNC cable is connected correctly and that the antenna is outside with a clear view of the sky. Use a male-female SMA extension cable if needed to increase the cable length.
+Check the Ethernet interface is enabled. It may be disabled. Connect via the CONFIG MOSAIC USB-C port and open 192.168.3.1 on a web browser. Check the Communication Ethernet sub-page.
+
+
+
By default, the mosaic-T Ethernet port is configured for Dynamic Host Configuration Protocol (DHCP). It expects the router / Ethernet switch to provide it with an IP address. If the IP address is all zeros (0.0.0.0), check that your router has DHCP enabled. Most do.
+If you need a static IP address, you can configure this through the mosaic-T's Communication Ethernet sub-page.
+Subnet 3 is reserved for the mosaic-T's USB-C connection (Ethernet-over-USB). If your router / switch is allocating addresses using subnet 3 (192.168.3.***), please change its settings so it uses a different subnet.
+If you can not see the mosaic-T's internal web page, please check that your computer / tablet / phone is connected to the same network. Most broadband routers support both Ethernet and WiFi simultaneously using the same subnet. If you are using a phone, check it is connected to the router WiFi - and not using its mobile data connection.
+Subnet 3 is reserved for the mosaic-T's USB-C connection (Ethernet-over-USB). If your router / switch is allocating addresses using subnet 3 (192.168.3.***), please change its settings so it uses a different subnet. If it is using subnet 3, both the mosaic-T and your device will appear to have valid IP addresses but will not be able to communicate.
+The mosaic-T has a built-in high-speed USB port which supports Ethernet-over-USB. To take advantage of this interface, you first need to install the Septentrio drivers.
+
+
1 - Connect the GNSS antenna2 - Download and install Septentrio RxTools3 - Connect the RTK mosaic-T to your computer4 - Open the web pageYou can now use the RxTools suite to take full advantage of the sophisticated mosaic-T.
+Not working?
+The following sections will help if your RTK mosaic-T is not working as expected:
+The red power (PWR) LED will light up when the RTK mosaic-T has power. If the PWR LED is off, make sure the USB cable is connected.
+The OLED display will only show position information (Lat, Long, Alt etc.) once a satellite signal has been acquired. If you see only an IP address on the display, check the SMA to TNC cable is connected correctly and that the antenna is outside with a clear view of the sky. Use a male-female SMA extension cable if needed to increase the cable length.
+If you can not see the mosaic-T's internal web page at 192.168.3.1, please check that your computer / tablet / phone is connected correctly to the USB-C port.
+Subnet 3 is reserved for the mosaic-T's USB-C connection (Ethernet-over-USB). If your computer is simultaneously connected to an Ethernet or WiFi network that also uses subnet 3 (192.168.3.***), please change the network settings so it uses a different subnet.
+The SparkFun RTK mosaic-T contains an ESP32-WROVER microcontroller module. You can connect to its console through the CONFIG ESP32 USB-C connector.
+
+
1 - Connect the GNSS antenna2 - Download and install a terminal emulator like Tera Term3 - Connect the RTK mosaic-T to your computer4 - Open the terminal emulatorNot working?
+The following sections will help if your RTK mosaic-T is not working as expected:
+The red power (PWR) LED will light up when the RTK mosaic-T has power. If the PWR LED is off, make sure the USB cable is connected.
+The OLED display will only show position information (Lat, Long, Alt etc.) once a satellite signal has been acquired. If you see only an IP address on the display, check the SMA to TNC cable is connected correctly and that the antenna is outside with a clear view of the sky. Use a male-female SMA extension cable if needed to increase the cable length.
+If you can not see the debug messages and configuration menu in the terminal emulator, check that: you have installed the CH340 driver if needed; you are connected to the CH340 COM port; you have selected 115200 as the baud rate.
+Septentrio also provides great resources for the mosaic-T:
+Recommended Articles
+General Knowledge
+mosaic - Getting started
+Resetting a receiver
+Resetting and clearing the non-volatile memory
+Generating a diagnostic report of a Septentrio receiver
+RTCMv3 messages supported by the Septentrio receivers
+Interference Detection, Mitigation, and Flagging
Providing Corrections
+How to set up a base station
+RTK positioning with a moving baseline
+Set up an (internal) NTRIP caster on a Septentrio receiver
Applying Corrections
+Receive corrections over IP
+ Receive corrections via NTRIP
+Using uBlox's correction services for precise positioning
Antenna Corrections
+ +Recommended Videos
+ Getting started with the mosaic receiver module
+ Output NMEA data on the mosaic receiver module
+ Receiving NTRIP corrections on the mosaic module
+ Logging data to the Septentrio mosaic receiver module
+ Receiving corrections over an IP connection
+ Share the USB internet connection on your receiver
+ Septentrio's Agnostic GNSS Corrections program
+ Test-run for Septentrio's anti-jamming feature
+ mosaic - GNSS module receiver range from Septentrio
Full details about Fugro's AtomiChron time synchronisation service can be found on their website:
+ + + + + + + + + + + + + + + + + + + + + + + + + + +This is just a placeholder file for the webpage re-direct. All the content for this section is actually in the introduction.md file.
The RTK mosaic-T is L5-capable but, because the GPS L5 service is currently pre-operational and marked as \"unhealthy\", it takes some extra configuration steps to enable L5:
"},{"location":"L5/#web-interface","title":"Web Interface","text":"Admin > Expert Control > Control Panel > Navigation > Receiver Operation > Masks - Set \"Discard unhealthy satellites\" to off for both \"Tracking\" and \"PVT\"
L5 Configuration - Step 1 (PNG).
Navigation > Advance User Settings > Tracking > Signal Tracking : Enable GPSL5 signal tracking
L5 Configuration - Step 2 (PNG).
Navigation > Advance User Settings > PVT > Signal Usage - Enable GPSL5 in both \u201cPVT\u201d and \u201cnavigation data decoder\u201d
L5 Configuration - Step 3 (PNG).
Info
Make sure to click \u201cOK\u201d at the bottom of each page where you are making changes to update the current configuration, and don\u2019t forget to save it to boot if you want the configuration to persist when you cycle power.
"},{"location":"L5/#command-interface","title":"Command Interface","text":"setHealthMask, Tracking, offsetHealthMask, PVT, offsetSignalTracking, +GPSL5setSignalUsage, +GPSL5, +GPSL5Warning
When assembling the RTK mosaic-T, users should attach any power connections last. While there shouldn't be any issues with hot-swapping peripherals, it is common practice to power electronics as the last step of the assembly process (and the power should be disconnected before removing components).
What is in the Box?The RTK mosaic-T comes packaged as a complete kit, with all the accessories you'd need to set it up.
Everything that is included in the RTK mosaic-T kit.
Inside the box, users will find the GNSS antenna, RTK mosaic-T in its aluminum enclosure, and another box containing additional accessories. Inside, the accessory box, users will find the CAT-6 Ethernet cable, USB cable, SMA to TNC cable, USB power supply, WiFi antenna, and 32GB SD card.
The contents of the RTK mosaic-T package.
Products in the accessories box.
"},{"location":"hardware_assembly/#usb-c-ports","title":"USB-C Ports","text":"The USB ports are utilized to configure the mosaic-T module and ESP32 firmware settings. Additionally, the USB ports can also be used as a power source for the RTK mosaic-T.
The USB port to the mosaic-T can be used to configure the module through an IP port, for serial communication to stream the GNSS data, and access the SD card as a mass storage device. To connect to the mosaic-T, users only need to plug a USB-C cable into the CONFIG MOSAIC USB port and their computer.
The RTK mosaic-T with USB-C cable being attached.
With the default firmware, the USB port for the ESP32 is used for serial communication to tune the parameters for the TCXO oscillator and the Pulse-Per-Second output. To configure the settings, users only need to plug a USB-C cable into the CONFIG ESP32 USB port and their computer, and then open a terminal emulator at 115200 baud.
The RTK mosaic-T with USB-C cable being attached.
Software Requirements
Depending on their computer's operating system, users may need to install USB drivers to interface with the mosaic-T and/or the ESP32. Users may also need to install a terminal emulator for serial communication with the mosaic-T and the ESP32.
"},{"location":"hardware_assembly/#antennas","title":"Antennas","text":"In order to receive GNSS signals, users will need a compatible antenna. With the parts included in this kit, connect the L1/L2/L5 (tri-band) GNSS antenna to the RTK mosaic-T using the TNC-to-SMA cable.
Attaching a tri-band GNSS antenna to the TNC-SMA cable.
Attaching a TNC-SMA cable to the SMA connector on the RTK mosaic-T.
Mounting LocationUsers should mount their GNSS antenna outside, where it will have a clear, unobstructed view of the sky. Avoid areas with nearby buildings, EMF structures (i.e. radio towers or power lines), and vegetation (i.e. trees). These objects can increase errors due to signal muti-path, interference, and elevated noise plane.
The tri-band GPS antenna, mounted outside with an unobstructed view of the sky.
Connector PolarityWhen selecting antennas and/or cables for the RTK mosaic-T, double-check the polarity of the connection.
"},{"location":"hardware_assembly/#ethernet-jack","title":"Ethernet Jack","text":"There is a single ethernet jack on the RTK mosaic-T, which can be used to provide network access to the mosaic-T module. It supports power over ethernet (PoE) to power the device.
The jack to the mosaic-T allows users to provide internet access and power; it supports PoE. To provide network access, users should connect the RTK mosaic-T from the ETHERNET (PoE) jack to their local network with the (CAT-6) ethernet cable provided in the kit.
The RTK mosaic-T with ethernet cable being attached to the ETHERNET (PoE) jack.
Users can configure the mosaic-T module through the network connection.
No IP address?Check the Ethernet interface is enabled. It may be disabled. Connect via the CONFIG MOSAIC USB-C port and open 192.168.3.1 on a web browser. Check the Communication Ethernet sub-page.
mosaic-T web page (PNG) with Ethernet disabled.
mosaic-T web page (PNG) with Ethernet enabled.
By default, the mosaic-T Ethernet port is configured for Dynamic Host Configuration Protocol (DHCP). It expects the router / Ethernet switch to provide it with an IP address. If the IP address is all zeros (0.0.0.0), check that your router has DHCP enabled. Most do.
If you need a static IP address, you can configure this through the mosaic-T's Communication Ethernet sub-page.
Subnet 3 is reserved for the mosaic-T's USB-C connection (Ethernet-over-USB). If your router / switch is allocating addresses using subnet 3 (192.168.3.***), please change its settings so it uses a different subnet.
"},{"location":"hardware_assembly/#sd-card-slot","title":"SD Card Slot","text":"An \u00b5SD card slot is available for users to log and store data, locally on the board. Users will need to insert a compatible SD card and configure the mosaic-T module for data logging.
Inserting an SD card into the RTK mosaic-T.
SD Card Compatibility
The mosaic-T supports \u00b5SD cards with a FAT32 file system (i.e. only cards up to 32GB in size).
Initial ConfigurationBefore logging can take place, it is necessary to define a \"logging stream\" using the Logging page or RxTools. Streams can contain NMEA or SBF (Septentrio Binary Format) data; SBF can contain RTCM and/or RINEX.
microSD logging stream configuration.
Instructional Video
How to log data to the SD card of the Septentrio mosaic receiver module
Button OperationThere are multiple ways to configure and enable data logging to an SD card. However, the simplest method is with the LOG button. Once the stream is defined,
For more information, please reference the SD Card Slot section.
"},{"location":"hardware_assembly/#io-terminals","title":"IO Terminals","text":"Users can easily attach accessories to the RTK mosaic-T by wiring them into the terminal blocks on the back of the enclosure.
Connecting a wire to the terminal block.
Multiple ConnectionsFor multiple connections or wiring harnesses, users can disconnect the terminal block from its socket on the RTK mosaic-T.
Components of the terminal block.
Users can wiggle or use a soft/rigid object to carefully pry the terminal block off from its connector. In the picture below, a plastic name tag (~1.5mm thick) is used to carefully pry the terminal block up. We have also found the edge of a PCB ruler works great too.
Using a soft/rigid object to carefully pry the terminal block free from its socket.
Once wired up, users can simply push the terminal block back into its socket.
Connecting a wire to the terminal block.
Attaching the terminal block to its socket on the RTK mosaic-T.
Warning
To avoid shorts or damaging the RTK mosaic-T, verify the wiring with the labels on the back of the enclosure.
"},{"location":"hardware_overview/","title":"Hardware Overview","text":"Read Before Handling PCB!
ESD Sensitivity
The mosaic-T module is sensitive to ESD. Use a proper grounding system to make sure that the working surface and the components are at the same electric potential.
ESD PrecautionAs recommended by the manufacturer, we highly encourage users to take the necessary precautions to avoid damaging their module.
iFixit Anti-Static Wrist Strap TOL-25572
ESP32 Firmware
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.
The /Firmware/Binaries folder contains the firmware binaries.
You can update or reload the firmware using the SparkFun RTK Firmware Uploader.
You can of course modify the hardware too, should you want to. The design is completely open-source.
"},{"location":"hardware_overview/#hardware-overview","title":"Hardware Overview","text":"In this section, we walk you through the hardware design, interfaces, I/O connections, power options and more.
"},{"location":"hardware_overview/#schematic","title":"Schematic","text":"Users can download the full schematic for the RTK mosaic-T in *.pdf format.
Details about the aluminum enclosure can be found on the Metal Enclosure - Custom Aluminum Extrusion (6in. x 4in. PCB) product page.
Dimensions (PDF) of the RTK mosaic-T aluminum enclosure and the front/rear panels, in millimeters.
The circuit board dimensions are illustrated in the drawing below; the listed measurements are in inches.
Dimensions (PDF) of the RTK mosaic-T PCB, in inches.
Need more measurements?For more information about the board's dimensions, users can download the KiCad files for the board. These files can be opened in KiCad 8 and additional measurements can be made with the dimensions tool.
The dimensions and technical specifications of the GNSS antenna can be found on the GNSS Multi-Band L1/L2/L5 Surveying Antenna - TNC (SPK6618H) product page.
Dimensions of the included GNSS antenna, in mm. Source: SPK6618H Datasheet (PDF)
"},{"location":"hardware_overview/#power-options","title":"Power Options","text":"The mosaic-T and the ESP32 both required 3.3V power. To simplify the power circuitry, the four power sources are combined into a common 5V rail which then feeds individual 3.3V regulators for the mosaic-T and the ESP32.
Power connections on the RTK mosaic-T PCB.
The RTK mosaic-T can be powered individually or in combination, with any of the following:
USB Ports - 5V; delivered via the MOSAIC CONFIG and/or ESP32 CONFIG USB-C connectors.Power-over-Ethernet - Range: 36 to 57V; delivered via the MOSAIC ETHERNET RJ45 MagJack connector.External DC Power - Range: 9 to 36V; delivered via the VIN+ and VIN- screw cage terminals.If you want to measure the board's current draw, you can open the MEAS jumper and measure the current via a pair of breakout pads (see the Jumpers section).
Diodes are used to combine and protect the power sources from each other. Also, a 2A resettable fuse (green) provides additional protection.
Info
For more details, users can reference the schematic and the datasheets of the individual components on the board.
USB-C Connectors Power-over-Ethernet (PoE) External DC Power (VIN)The mosaic-T and ESP32 both have USB-C connections. These USB ports can be used to power the RTK mosaic-T during the initial configuration when the mosaic-T or ESP32 are connected to a computer.
USB-C connectors on the RTK mosaic-T.
The USB-C device connections on the RTK mosaic-T PCB.
CH340 Driver
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 section).
The mosaic-T Ethernet port supports Power-over-Ethernet (PoE), allowing the RTK mosaic-T to be powered by the network. This is very useful when the RTK mosaic-T is mounted remotely - perhaps in a weatherproof box up on the roof. Data and power can be delivered through a single cable, avoiding the need for a separate power connection.
The Power-over-Ethernet (PoE) jack on the RTK mosaic-T.
The PoE power input circuit on the RTK mosaic-T PCB.
The RTK mosaic-T includes a fully-isolated DC-DC converter, for applications where you may want to power the unit from a vehicle. The DC-DC converter accepts DC voltages between 9V and 36V, regulating this down to 5V. The converter is fully isolated to 1.5kV and operates with ~90% efficiency.
The VIN+ and VIN- screw terminal pins for the external DC power input.
The DC-DC power converter and external power inputs on the RTK mosaic-T PCB.
Vehicle PowerFor 12V or 24V vehicle power:
VIN+ screw cage terminalVIN- screw cage terminalPower Source
Additionally, make sure that the power source from the vehicle is not directly tied to the vehicle's battery, Always On, or accessory circuits. Otherwise, users will risk draining the battery while the engine is off.
We recommend locating the ignition on or switched power circuit, which is only powered when the key is in the On position and the engine is running.
Note
The On position, is where a key normally rests after the engine is started. However, users can still move the key from the Off position and into the On position without starting the engine. In this case, the alternator is not running and keeping the battery charged.
Modern eco-efficient vehicles may automatically shut down the engine if the vehicle is idling too long. Therefore, cutting off the vehicle's alternator that keeps the battery charged. Luckily, most vehicles with this automatic start/stop technology will monitor the battery's voltage and restart the engine when required. With this in mind, users may want to initially monitor their battery voltage, in case their vehicle isn't \"so smart\" .
Ground LoopIf desired, users can link VIN- to the adjacent GND screw cage terminal. However, this will bypass the voltage isolation and could introduce an unwanted ground loop, particularly if the GNSS antenna ground (shield, 0V) is also connected to the chassis.
The heart of our product is of course the mosaic-T GNSS module from Septentrio. It is a very sophisticated chip with multiple interfaces: UARTS, USB and Ethernet. The COM3 UART pins, plus GPIO1 and GPIO2, are available as 0.1\" test points should you need access to them.
The Septentrio mosaic-T GNSS module.
"},{"location":"hardware_overview/#espressif-logo-esp32-wrover","title":"Espressif logo\u00a0ESP32-WROVER","text":"The ESP32 processor is there to control (discipline) the 10 MHz TCXO oscillator and the OLED display. We have deliberately kept the ESP32 firmware as simple as possible. The intention is that you can write your own firmware using the Espressif IDF or Arduino IDE if you need to. The ESP32-WROVER-IE antenna is connected to the ESP32 RP SMA connector on the rear panel but it is unused by the SparkFun firmware.
The Espressif ESP32-WROVER processor.
Think of the ESP32 as a co-processor, or riding shotgun... The mosaic-T COM1 and COM4 UARTs are linked to the ESP32, allowing the two to communicate directly without needing an Ethernet link. In our firmware, the PVTGeodetic and ReceiverTime messages are output on COM1. The ESP32 displays some of their content on the I2C OLED display, and then uses the content to discipline the TCXO oscillator. See Oscillator for more details.
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.
The /Firmware/Binaries folder contains the firmware binaries.
You can update or reload the firmware using the SparkFun RTK Firmware Uploader.
"},{"location":"hardware_overview/#ethernet-phy-interface","title":"Ethernet PHY Interface","text":"The mosaic-T has a KSZ8041NLI Ethernet PHY interface, connected using a Reduced Media-Independent Interface (RMII).
Ethernet (PoE) conection.
The Ethernet PHY on the RTK mosaic-T PCB.
No IP address?Check the Ethernet interface is enabled. It may be disabled. Connect via the CONFIG MOSAIC USB-C port and open 192.168.3.1 on a web browser. Check the Communication Ethernet sub-page.
mosaic-T web page (PNG) with Ethernet disabled.
mosaic-T web page (PNG) with Ethernet enabled.
By default, the mosaic-T Ethernet port is configured for Dynamic Host Configuration Protocol (DHCP). It expects the router / Ethernet switch to provide it with an IP address. If the IP address is all zeros (0.0.0.0), check that your router has DHCP enabled. Most do.
If you need a static IP address, you can configure this through the mosaic-T's Communication Ethernet sub-page.
Subnet 3 is reserved for the mosaic-T's USB-C connection (Ethernet-over-USB). If your router / switch is allocating addresses using subnet 3 (192.168.3.***), please change its settings so it uses a different subnet.
"},{"location":"hardware_overview/#usb-c-connectors","title":"USB-C Connectors","text":"The mosaic-T and ESP32 both have USB-C connections. The MOSAIC USB port is high-speed and connected to the T through a balancing transformer. The ESP32 USB port is connected through a CH340 USB-UART IC.
USB-C connections: mosaic-T (left) and ESP32 (right).
The USB-C data connections on the RTK mosaic-T PCB.
Info
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.
CH340 Driver
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 section).
"},{"location":"hardware_overview/#sd-socket","title":"\u00b5SD Socket","text":"The \u00b5SD socket is connected directly to the mosaic-T via a one-bit SDIO interface for fast data logging. The mosaic-T supports \u00b5SD cards with a FAT32 file system (i.e. only cards up to 32GB in size).
\u00b5SD slot and LOG button.
\u00b5SD socket and Log button on the RTK mosaic-T PCB.
Operation InstructionsInitial Configuration
Before logging can take place, it is necessary to define a \"logging stream\" using the Logging page or RxTools. Streams can contain NMEA or SBF (Septentrio Binary Format) data; SBF can contain RTCM and/or RINEX.
\u00b5SD logging stream configuration.
Instructional Video
How to log data to the SD card of the Septentrio mosaic receiver module
Once the stream is defined, users can control the data logging operation through the LOG button.
LOG LED will flash while logging is taking place.The RTK mosaic-T has robust SMA connectors for the mosaic-T GNSS antenna, 50 Ohm Pulse-Per-Second, 10 MHz disciplined sine wave, and the ESP32 WiFi / BT antenna.
The SMA connector for the GNSS antenna.
The connection for the GNSS antenna to the mosaic-T.
The mosaic-T GNSS SMA connector is standard polarity and provides 5V power for an active antenna.
The SMA connector for the 50 Ohm Pulse-Per-Second output.
The connection for the 50 Ohm Pulse-Per-Second output.
The Pulse-Per-Second SMA connector is standard polarity. The output impedance is 50 Ohm. The voltage is selectable via the VCCIO switch: 3.3V or 5V. The output is DC-coupled.
The SMA connector for the 50 Ohm disciplined 10 MHz sine wave output.
The connection for the 50 Ohm disciplined 10 MHz sine wave output.
The 10 MHz sine wave SMA connector is standard polarity. The output impedance is 50 Ohm. The voltage is adjustable via the VCCIO switch. The output is AC-coupled and is approximately 1VPP.
The RP-SMA connector for the WiFi/BLE antenna.
The connection for the WiFi / BLE antenna to the ESP32.
The ESP32 WiFi / BT SMA connector is reverse-polarity (RP). A short u.FL cable connects the SMA connector to the ESP32-WROVER itself.
Note: this connector is not used by the current RTK mosaic-T firmware. It is there in case you want to develop your own firmware with WiFi / BT connectivity.
Connector Polarity
When selecting antennas and/or cables for the RTK mosaic-T, double-check the polarity for the connections.
"},{"location":"hardware_overview/#io-terminals","title":"I/O Terminals","text":"The RTK moasic-T is equipped with a 10-way 3.5mm screw cage terminal connector.
I/O Screw Terminal Connections.
I/O Screw Terminal Connections on the RTK mosaic-T PCB.
These terminals are described in the tabs below. For more information on the I/O terminals, you can refer to the schematic.
External PowerGNDmosaic-TCOM2CTSEVENT A & BPPS The VIN+ and VIN- terminals allow the RTK mosaic-T to be powered by an external DC power source - typically a 12V / 24V vehicle battery.
Terminal Function VIN+ External voltage: Min: 9V; Max: 36V VIN- Ground / Chassis / 0V
Info
The DC-DC converter in the RTK mosaic-T provides 1.5kV isolation between VIN+/VIN- and 5V/GND. There is no direct electrical connection between VIN- and GND.
Ground Loop
If desired, users can link VIN- to the adjacent GND screw cage terminal. However, this will bypass the voltage isolation and could introduce an unwanted ground loop, particularly if the GNSS antenna ground (shield, 0V) is also connected to the chassis.
Ground / 0V or logic-low reference.
Info
The DC-DC converter in the RTK mosaic-T provides 1.5kV isolation between VIN+/VIN- and 5V/GND. There is no direct electrical connection between GND and VIN-.
Ground Loop
If desired, users can link GND to the adjacent VIN- screw cage terminal. However, this will bypass the voltage isolation and could introduce an unwanted ground loop, particularly if the GNSS antenna ground (shield, 0V) is also connected to the chassis.
The mosaic-T UART COM2 connections are connected as follows:
Terminal Function Notes RX COM2 UART Receive - Input TX COM2 UART Transmit - Output RTS COM2 UART Request To Send - Output The module drives this pin low when ready to receive data CTS COM2 UART Clear To Send - Input Must be driven low when ready to receive data from the module
Tip
The COM2 I/O voltage is set by the VCCIO voltage selection switch.
Tip
The RX and CTS inputs have weak (100K) pull-ups to VCCIO.
Tip
The CTS terminal can be configured as a VCCIO power output by soldering the jumper closed on the PCB.
The CTS terminal can be configured as a VCCIO power output by soldering the jumper closed on the PCB.
VCCIO jumper.
Tip
Soldering the jumper closed will place the mosaic-T COM2 CTS into the high (not ready) state. Flow control (hardware handshaking) is not possible when the jumper is closed. Flow control is disabled by default. If needed, flow control can be (re)disabled through the web interface or by sending (e.g) scs, COM2, baud115200, bits8, No, bit1, none
The VCCIO voltage can be set to 3.3V or 5V via the small internal slide switch highlighted below:
VCCIO voltage selection switch.
The CTS terminal can then be used as a power output or logic-high references. Likewise, the GND terminal can be used for power return or as logic-low references.
Terminal Function CTS 3.3V or 5V power output or logic-high reference GND Ground / 0V or logic-low reference
Info
The default position of the VCCIO switch is 3.3V.
Tip
The CTS and GND pins could be used to power (e.g.) a LoRa module. When VCCIO is 3.3V, we recommend limiting the current draw from VCCIO to 200mA maximum. The upstream 3.3V regulator is rated at 600mA but it also provides power for the mosaic-T and Ethernet PHY. When VCCIO is set to 5V, the current draw can be higher - the suggested maximum is 500mA.
The mosaic-T EVENTA and EVENTB inputs can be used to mark or timestamp external events:
Terminal Function EVENTA Event A : Input EVENTB Event B : Input
Tip
The EVENT voltage level is set by the VCCIO voltage selection switch.
Tip
The EVENT inputs are pulled low internally. Pull up to VCCIO to trigger an event.
Tip
An easy way to observe the events is with RxTools RxControl Expert Console (under Tools) ExEvent tab:
Capturing external events from EVENTA and EVENTB.
The mosaic-T PPS is a configurable Pulse-Per-Second output. By default, PPS is high for 5ms at 1Hz. The polarity, frequency and pulse width can be adjusted through the ESP32 firmware settings.
Tip
The PPS pulses are disabled initially and only enabled when the TCXO oscillator is locked to the correct frequency. See Oscillator for more details.
Terminal Function PPS Pulse-Per-Second : Output
Tip
The PPS voltage is set by the VCCIO voltage selection switch.
"},{"location":"hardware_overview/#status-leds","title":"Status LEDs","text":"There are six status LEDs on the RTK mosaic-T:
PWR - Power (Red)LOG - \u00b5SD Logging (Red)LOCK - Oscillator Lock (Green)PVT - Position Velocity Time (Green)ERROR - GNSS Error (Yellow)RTK - Real-Time Kinematic (Yellow)The status indicator LEDs on the RTK mosaic-T.
The status indicator LEDs on the RTK mosaic-T PCB.
"},{"location":"hardware_overview/#oled-display","title":"OLED Display","text":"The RTK mosaic-T has a 128x64 pixel OLED display, controlled by the ESP32 via I2C. After some initial diagnostic messages, the display will show position, time and other data from the mosaic-T PVTGeodetic, ReceiverTime and IPStatus SBF blocks.
The OLED display on the RTK mosaic-T.
OLED display (PNG) for the RTK mosaic-T.
The display is updated on arrival of the ReceiverTime message. You may see a small lag between the display and the actual time system time, but it will be minimal.
"},{"location":"hardware_overview/#buttons","title":"Buttons","text":"There are three buttons on the RTK mosaic-T: RESET, BOOT, and LOG.
Buttons on the RTK mosaic-T.
Buttons on the RTK mosaic-T PCB.
Septentrio logo\u00a0mosaic-T: Data LoggingEspressif logo\u00a0ESP32: ResetEspressif logo\u00a0ESP32: Boot ControlOnce a logging stream is defined, users can control the data logging operation through the LOG button.
LOG LED will flash while logging is taking place.Instructional Video
How to log data to the SD card of the Septentrio mosaic receiver module
The RESET button allows users to reset the firmware running on the ESP32-WROVER module without disconnecting the power.
The BOOT button can be used to force the ESP32 into the serial bootloader. Holding down the BOOT button, while connecting the RTK mosaic-T to a computer through its USB-C connector or resetting the board will cause it to enter the Firmware Download mode. The ESP32 will remain in this mode until it power cycles (happens automatically after uploading new firmware) or the RESET button is pressed.
Check out our Jumper Pads and PCB Traces tutorial for a quick introduction!
How to Work with Jumper Pads and PCB Traces
There are several jumpers on the RTK moasic-T PCB which can be used to (e.g.) disable the LEDs or allow measurement of the board's current draw.
The jumpers on the top of the RTK mosaic-T PCB.
The jumpers on the bottom of the RTK mosaic-T PCB.
TopBottomRTK mosaic-T SKU: GPS-26289
\u00a0\u00a0Purchase from SparkFun
Designed and manufactured in Boulder, Colorado, USA, the SparkFun RTK mosaic-T is the perfect solution for your high-precision timing needs. Based around the multi-constellation, multi-frequency, L5-ready mosaic-T from Septentrio, this is our most accurate GNSS timing product to date. It features a SiTime SiT5358 disciplined 10MHz Digitally-Controlled Temperature-Controlled Crystal Oscillator (DCTCXO) providing excellent clock accuracy, stability and holdover. The mosaic-T also has built-in on-module support for the Fugro AtomiChron L-band timing service.
Under the hood, the RTK mosaic-T is based on the mosaic-T GNSS module from Septentrio, plus the Espressif ESP32-WROVER processor (16MB flash, 8MB PSRAM). The mosaic-T has USB-C connectivity (with Ethernet-over-USB), multiple UARTs and supports full Ethernet connectivity. You can connect the mosaic-T directly to your Ethernet network - our product supports Power-over-Ethernet too. The ESP32 rides shotgun, disciplining the DCTCXO and controlling the OLED display. The RTK mosaic-T has multiple power options including USB-C, PoE and 9V-36V DC, making it easy to connect it to a battery-backed supply. Robust SMA connections and screw cage terminals provide access to the Pulse-Per-Second and 10MHz clock signals.
RTK Base
The mosaic-T is a superb GNSS module designed for highly accurate timing applications. It can be configured as a RTK Rover and will make use of incoming RTCM corrections. But it can not be configured as a RTK Base. RTCM output is not supported.
"},{"location":"introduction/#connectivity","title":"Connectivity","text":"Below is a simple comparison table between our breakout board and Septentrio's development and evaluation kits:
mosaic-T Development Kit mosaic-go Evaluation Kit mosaic-X5 GNSS Breakout RTK mosaic-X5 RTK mosaic-T RTK Rover Yes Yes Yes Yes Yes RTK Base Yes Yes Yes Yes No GNSS Antenna Dual Single (mosaic-X5) Dual (mosaic-H) Single Single Single USB Connector micro-B micro-B Type-C Type-C Type-C Ethernet Yes 10/100 Base-T No No Yes 10/100 Base-T Yes 10/100 Base-T WiFi No No No Yes - Network Bridge 10 Base-T No COM Ports 4 2 4 1 - mosaic-X5 1 - ESP32 1 - mosaic-T 1 - ESP32 \u00b5SD Card Slot Yes Yes Yes Yes Yes Reset/Log Buttons Yes No* Yes Yes Yes Logic-Level 1.8V 3.3V 3.3V 3.3V 3.3V 5V 3.3V 5V PPS Signal Header Pin 6-Pin JST Connector SMA Connector Screw Terminal Screw Terminal SMA Connector 10MHz Signal No No No No SMA Connector Enclosure Material N/A Metal N/A Aluminum Aluminum Dimensions N/A 71 x 59 x 12mm \u00b1 1mm 70.9 x 50.8 x 8mm 180.6 x 101.8 x 41mm Enclosure Only 180.6 x 101.8 x 41mm Enclosure Only Weight N/A 58g \u00b1 1g 22.6g 415.15g Enclosure Only 415.15g Enclosure Only
mosaic-go Evaluation Kit
The reset pin is exposed on 4-pin JST connector and the log pin is connected to the latch pin of the SD card slot.
"},{"location":"introduction/#required-materials","title":"Required Materials","text":"The RTK mosaic-T comes with everything you need to get up and running.
Kit Contents
Everything that is included in the RTK mosaic-T kit.
Mounting Hardware
This kit does not include any mounting hardware for the antenna. If you wish to permanently mount the antenna outside, we recommend the following products:
GNSS Antenna Mounting Hardware Kit KIT-22197
GNSS Magnetic Antenna Mount - 5/8\" 11-TPI PRT-21257
Extension CablesYour RTK mosaic-T is equally at home on your desk, lab bench or in a server rack. But you're still going to want to put the GNSS antenna outdoors, so it will have the best view of the sky. Some extra SMA extension cables may be useful and we have good quality low-loss RG58 cables available in the store. The GNSS SMA antenna connection is standard polarity.
Interface Cable - SMA Female to SMA Male (10m, RG58) CAB-21281
Tip
Use this extension cable for the GNSS antenna. This cable will not work with the WiFi/BLE antenna due to the polarity of the connectors.
Interface Cable - RP-SMA Male to RP-SMA Female (10M, RG58) CAB-22038
Tip
Use this extension cable for the ESP32 WiFi/BLE antenna. This cable will not work with the GNSS antenna due to the polarity of the connectors. WiFi/BLE is not supported by the current firmware.
\u00a0Selecting an Outdoor EnclosureThe RTK mosaic-T comes in a beautiful custom extruded aluminum enclosure, with machined end panels and matching stickers. The slotted flanges make it easy to install and secure the enclosure in many locations. But the enclosure only provides limited protection against the ingress of dust and water; it is designed to IP42. So, if you are going to permanently install it up on the roof too, you're going to need a suitable weatherproof box. We found a good one - the Orbit 57095 - also available from Amazon - back when we put together our very first DIY GNSS Reference Station.
How to Build a DIY GNSS Reference Station
AC Not Required!
The Orbit enclosure comes with a built-in power outlet, but you don't need it! The RTK mosaic-T can be powered by Power-over-Ethernet (PoE), meaning all you really need to run up to the roof is a standard 8-core CAT-6 Ethernet cable. Choose a PoE Ethernet Switch that meets your needs. We have had good experiences with the TP-Link TL-SG1005P - available from many retailers including Amazon.
"},{"location":"introduction/#suggested-reading","title":"Suggested Reading","text":"As a more sophisticated product, we will skip over the more fundamental tutorials (i.e. Ohm's Law and What is Electricity?). However, below are a few tutorials that may help users familiarize themselves with various aspects of the board.
GPS Basics
What is GPS RTK?
Setting up a Rover Base RTK System
How to Build a DIY GNSS Reference Station
mosaic-X5 GNSS Breakout Board Hookup Guide
Qwiic OLED 1.3\" Hookup Guide
How to Install CH340 Drivers
Serial Terminal Basics
Logic Levels
I2C
Serial Communication
How to Work with Jumper Pads and PCB Traces
Related Blog PostsAdditionally, users may be interested in these blog post articles on GNSS technologies:
GPS vs GNSS
What is Correction Data?
Real-Time Kinematics Explained
DIY RTK Surveying
New Video: Unlocking High-Precision RTK Positioning
"},{"location":"oscillator/","title":"Oscillator","text":""},{"location":"oscillator/#sitime-sit5358-disciplined-oscillator","title":"SiTime SiT5358 Disciplined Oscillator","text":"SiT5358 TCXO Oscillator.
For the best frequency accuracy, stability and holdover, the RTK mosaic-T utilizes a SiTime SiT5358 Digitally-Controlled Temperature-Controlled Crystal Oscillator (DCTCXO). The SiT5358 is a precision MEMS Super-TCXO optimized for \u00b150 ppb stability from -40\u00b0C to 105\u00b0C. Engineered for best dynamic performance, it is ideal for high reliability telecom, wireless and networking, industrial, precision GNSS and audio/video applications.
The SiT5358 is interfaced to the mosaic-T through a level-shifting buffer, replacing the mosaic's internal oscillator and allowing the oscillator frequency to be tuned (disciplined) under software control. The 10 MHz SMA output is generated by a duplicate level-shifter to ensure an equal delay, and filtered through a 3rd order Butterworth bandpass filter.
"},{"location":"oscillator/#software-control-loop","title":"Software Control Loop","text":"The SiT5358 is interfaced to the mosaic-T according to Appendix D of the mosaic Hardware Manual: \"mosaic-Based Disciplined Clock\".
The ESP32 is interfaced to two of the mosaic-T's COM (UART) ports: COM1 and COM4. The ESP32 configures the mosaic-T via COM4. COM1 is dedicated as an output port for the SBF blocks used to tune the oscillator frequency.
When the firmware boots, the mosaic-T is configured as follows:
These commands configure the mosaic so that it: starts-up with the PPS pulses disabled; performs an initial precise synchronization to GNSS time; and outputs the PVTGeodetic and ReceiverTime blocks on COM1 at 1Hz. IPStatus is output each time one or more IP parameters change. With a Fugro Atomichron subscription, the FugroTimeOffset message will be generated each time one of the clock biases changes.
The firmware monitors the message blocks on COM1. The ERROR LED follows the PVTGeodetic Error code. The LED is extinguished when Error is zero.
The firmware waits until the ReceiverTime SyncLevel FINETIME bit is set, indicating that the receiver time initialization is complete. Once the FINETIME bit is set, it remains set until the next reset of the receiver.
The firmware then monitors the PVTGeodetic RxClkBias (as 64-bit float in milliseconds). When RxClkBias is positive, receiver time is ahead of system time and the oscillator frequency should be reduced. When RxClkBias is negative, receiver time is behind system time and the oscillator frequency should be increased. The firmware will adjust the SiT5358 oscillator frequency via the 26-bit Digital Frequency Control register accordingly. As per Appendix D, the frequency will be changed by no more than 3ppb per second.
The Proportional (P) and Integral (I) terms can be adjusted via the ESP32 firmware settings.
The LOCK LED will illuminate and PPS pulses will be generated when RxClkBias is less than 10ns. The OLED will show PPS On when pulses are being generated.
The 10ns lock threshold / limit can be changed by the user through the ESP32 USB-C interface and saved in non-volatile memory.
The Pulse-Per-Second parameters can also be configured by the user through the USB-C interface: interval, polarity, delay, time scale, max sync age, pulse width.
Should PVTGeodetic Error indicate an error (i.e. become non-zero), the loop will continue but no changes will be made to the oscillator frequency until the error is cleared.
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.
"},{"location":"print_view/","title":"Introduction","text":"RTK mosaic-T SKU: GPS-26289
\u00a0\u00a0Purchase from SparkFun
Designed and manufactured in Boulder, Colorado, USA, the SparkFun RTK mosaic-T is the perfect solution for your high-precision timing needs. Based around the multi-constellation, multi-frequency, L5-ready mosaic-T from Septentrio, this is our most accurate GNSS timing product to date. It features a SiTime SiT5358 disciplined 10MHz Digitally-Controlled Temperature-Controlled Crystal Oscillator (DCTCXO) providing excellent clock accuracy, stability and holdover. The mosaic-T also has built-in on-module support for the Fugro AtomiChron L-band timing service.
Under the hood, the RTK mosaic-T is based on the mosaic-T GNSS module from Septentrio, plus the Espressif ESP32-WROVER processor (16MB flash, 8MB PSRAM). The mosaic-T has USB-C connectivity (with Ethernet-over-USB), multiple UARTs and supports full Ethernet connectivity. You can connect the mosaic-T directly to your Ethernet network - our product supports Power-over-Ethernet too. The ESP32 rides shotgun, disciplining the DCTCXO and controlling the OLED display. The RTK mosaic-T has multiple power options including USB-C, PoE and 9V-36V DC, making it easy to connect it to a battery-backed supply. Robust SMA connections and screw cage terminals provide access to the Pulse-Per-Second and 10MHz clock signals.
RTK Base
The mosaic-T is a superb GNSS module designed for highly accurate timing applications. It can be configured as a RTK Rover and will make use of incoming RTCM corrections. But it can not be configured as a RTK Base. RTCM output is not supported.
"},{"location":"print_view/#connectivity","title":"Connectivity","text":"Below is a simple comparison table between our breakout board and Septentrio's development and evaluation kits:
mosaic-T Development Kit mosaic-go Evaluation Kit mosaic-X5 GNSS Breakout RTK mosaic-X5 RTK mosaic-T RTK Rover Yes Yes Yes Yes Yes RTK Base Yes Yes Yes Yes No GNSS Antenna Dual Single (mosaic-X5) Dual (mosaic-H) Single Single Single USB Connector micro-B micro-B Type-C Type-C Type-C Ethernet Yes 10/100 Base-T No No Yes 10/100 Base-T Yes 10/100 Base-T WiFi No No No Yes - Network Bridge 10 Base-T No COM Ports 4 2 4 1 - mosaic-X5 1 - ESP32 1 - mosaic-T 1 - ESP32 \u00b5SD Card Slot Yes Yes Yes Yes Yes Reset/Log Buttons Yes No* Yes Yes Yes Logic-Level 1.8V 3.3V 3.3V 3.3V 3.3V 5V 3.3V 5V PPS Signal Header Pin 6-Pin JST Connector SMA Connector Screw Terminal Screw Terminal SMA Connector 10MHz Signal No No No No SMA Connector Enclosure Material N/A Metal N/A Aluminum Aluminum Dimensions N/A 71 x 59 x 12mm \u00b1 1mm 70.9 x 50.8 x 8mm 180.6 x 101.8 x 41mm Enclosure Only 180.6 x 101.8 x 41mm Enclosure Only Weight N/A 58g \u00b1 1g 22.6g 415.15g Enclosure Only 415.15g Enclosure Only
mosaic-go Evaluation Kit
The reset pin is exposed on 4-pin JST connector and the log pin is connected to the latch pin of the SD card slot.
"},{"location":"print_view/#required-materials","title":"Required Materials","text":"The RTK mosaic-T comes with everything you need to get up and running.
Kit Contents
Everything that is included in the RTK mosaic-T kit.
Mounting Hardware
This kit does not include any mounting hardware for the antenna. If you wish to permanently mount the antenna outside, we recommend the following products:
GNSS Antenna Mounting Hardware Kit KIT-22197
GNSS Magnetic Antenna Mount - 5/8\" 11-TPI PRT-21257
Extension CablesYour RTK mosaic-T is equally at home on your desk, lab bench or in a server rack. But you're still going to want to put the GNSS antenna outdoors, so it will have the best view of the sky. Some extra SMA extension cables may be useful and we have good quality low-loss RG58 cables available in the store. The GNSS SMA antenna connection is standard polarity.
Interface Cable - SMA Female to SMA Male (10m, RG58) CAB-21281
Tip
Use this extension cable for the GNSS antenna. This cable will not work with the WiFi/BLE antenna due to the polarity of the connectors.
Interface Cable - RP-SMA Male to RP-SMA Female (10M, RG58) CAB-22038
Tip
Use this extension cable for the ESP32 WiFi/BLE antenna. This cable will not work with the GNSS antenna due to the polarity of the connectors. WiFi/BLE is not supported by the current firmware.
\u00a0Selecting an Outdoor EnclosureThe RTK mosaic-T comes in a beautiful custom extruded aluminum enclosure, with machined end panels and matching stickers. The slotted flanges make it easy to install and secure the enclosure in many locations. But the enclosure only provides limited protection against the ingress of dust and water; it is designed to IP42. So, if you are going to permanently install it up on the roof too, you're going to need a suitable weatherproof box. We found a good one - the Orbit 57095 - also available from Amazon - back when we put together our very first DIY GNSS Reference Station.
How to Build a DIY GNSS Reference Station
AC Not Required!
The Orbit enclosure comes with a built-in power outlet, but you don't need it! The RTK mosaic-T can be powered by Power-over-Ethernet (PoE), meaning all you really need to run up to the roof is a standard 8-core CAT-6 Ethernet cable. Choose a PoE Ethernet Switch that meets your needs. We have had good experiences with the TP-Link TL-SG1005P - available from many retailers including Amazon.
"},{"location":"print_view/#suggested-reading","title":"Suggested Reading","text":"As a more sophisticated product, we will skip over the more fundamental tutorials (i.e. Ohm's Law and What is Electricity?). However, below are a few tutorials that may help users familiarize themselves with various aspects of the board.
GPS Basics
What is GPS RTK?
Setting up a Rover Base RTK System
How to Build a DIY GNSS Reference Station
mosaic-X5 GNSS Breakout Board Hookup Guide
Qwiic OLED 1.3\" Hookup Guide
How to Install CH340 Drivers
Serial Terminal Basics
Logic Levels
I2C
Serial Communication
How to Work with Jumper Pads and PCB Traces
Related Blog PostsAdditionally, users may be interested in these blog post articles on GNSS technologies:
GPS vs GNSS
What is Correction Data?
Real-Time Kinematics Explained
DIY RTK Surveying
New Video: Unlocking High-Precision RTK Positioning
"},{"location":"print_view/#quick-start-guide","title":"Quick Start Guide","text":"Directions
This quick start guide is intended to help users get started with their RTK mosaic-T, without having to review the technical details of the product. It includes the minimum instructions to initially set up the RTK mosaic-T, depending on the primary interface that users would like to utilize:
EthernetInstructions to connect the RTK mosaic-T to a network with an ethernet cable. This will provide the mosaic-T with network connectivity for its web server. Users can then pull up the configuration web page from any computer connected to that network.
mosaic-T USB-CFor users that just want to interface and set up the RTK mosaic-T, directly through their computer.
ESP32 USB-CFor users that want to configure the RTK mosaic-T firmware, using a terminal emulator on their computer.
Click on the tab of your preferred interface (below), to get started with the RTK mosaic-T.
Quick Start PamphletFor users who have lost the pamphlet in their kit, please check out the links below to download the *.pdf file:
Download the Quick Start Guide Click on the button (above) or scan the QR code with a mobile device, to download the *.pdf file of the quick start pamphlet.
The simplest way to get your RTK mosaic-T up and running is to connect it to your Ethernet network or an Ethernet port on your broadband router:
Ethernet Connections (PNG) for the RTK mosaic-T.
1 - Connect the GNSS antenna 2 - Connect the RTK mosaic-T to your Ethernet network or router 3 - Provide power Once the mosaic-T has acquired a satellite signal and is connected to the Ethernet network, the OLED will display: the date and time; the antenna's position as Latitude (Lat) and Longitude (Long); the Ethernet IP (Internet Protocol) network address.
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.
mosaic T web page (PNG) for the RTK mosaic-T.
Not working?
The following sections will help if your RTK mosaic-T is not working as expected:
No power?The red power (PWR) LED will light up when the RTK mosaic-T has power. If the PWR LED is off, make sure the wall adapter has power and the USB cable is connected.
If you use your own Ethernet cable for Power-over-Ethernet, check it has all eight pins connected. Some cables only have four pins connected and do not support Power-over-Ethernet.
No position information?The OLED display will only show position information (Lat, Long etc.) once a satellite signal has been acquired. If you don't see these on the display, check the SMA to TNC cable is connected correctly and that the antenna is outside with a clear view of the sky. Use a male-female SMA extension cable if needed to increase the cable length.
No IP address?Check the Ethernet interface is enabled. It may be disabled. Connect via the CONFIG MOSAIC USB-C port and open 192.168.3.1 on a web browser. Check the Communication Ethernet sub-page.
mosaic-T web page (PNG) with Ethernet disabled.
mosaic-T web page (PNG) with Ethernet enabled.
By default, the mosaic-T Ethernet port is configured for Dynamic Host Configuration Protocol (DHCP). It expects the router / Ethernet switch to provide it with an IP address. If the IP address is all zeros (0.0.0.0), check that your router has DHCP enabled. Most do.
If you need a static IP address, you can configure this through the mosaic-T's Communication Ethernet sub-page.
Subnet 3 is reserved for the mosaic-T's USB-C connection (Ethernet-over-USB). If your router / switch is allocating addresses using subnet 3 (192.168.3.***), please change its settings so it uses a different subnet.
No web page?If you can not see the mosaic-T's internal web page, please check that your computer / tablet / phone is connected to the same network. Most broadband routers support both Ethernet and WiFi simultaneously using the same subnet. If you are using a phone, check it is connected to the router WiFi - and not using its mobile data connection.
Subnet 3 is reserved for the mosaic-T's USB-C connection (Ethernet-over-USB). If your router / switch is allocating addresses using subnet 3 (192.168.3.***), please change its settings so it uses a different subnet. If it is using subnet 3, both the mosaic-T and your device will appear to have valid IP addresses but will not be able to communicate.
The mosaic-T has a built-in high-speed USB port which supports Ethernet-over-USB. To take advantage of this interface, you first need to install the Septentrio drivers.
USB Connections (PNG) for the RTK mosaic-T.
1 - Connect the GNSS antenna 2 - Download and install Septentrio RxTools 3 - Connect the RTK mosaic-T to your computer 4 - Open the web page You can now use the RxTools suite to take full advantage of the sophisticated mosaic-T.
Not working?
The following sections will help if your RTK mosaic-T is not working as expected:
No power?The red power (PWR) LED will light up when the RTK mosaic-T has power. If the PWR LED is off, make sure the USB cable is connected.
No position information?The OLED display will only show position information (Lat, Long, Alt etc.) once a satellite signal has been acquired. If you see only an IP address on the display, check the SMA to TNC cable is connected correctly and that the antenna is outside with a clear view of the sky. Use a male-female SMA extension cable if needed to increase the cable length.
No web page?If you can not see the mosaic-T's internal web page at 192.168.3.1, please check that your computer / tablet / phone is connected correctly to the USB-C port.
Subnet 3 is reserved for the mosaic-T's USB-C connection (Ethernet-over-USB). If your computer is simultaneously connected to an Ethernet or WiFi network that also uses subnet 3 (192.168.3.***), please change the network settings so it uses a different subnet.
The SparkFun RTK mosaic-T contains an ESP32-WROVER microcontroller module. You can connect to its console through the CONFIG ESP32 USB-C connector.
USB Connections (JPG) for the RTK mosaic-T.
1 - Connect the GNSS antenna 2 - Download and install a terminal emulator like Tera Term 3 - Connect the RTK mosaic-T to your computer 4 - Open the terminal emulator Not working?
The following sections will help if your RTK mosaic-T is not working as expected:
No power?The red power (PWR) LED will light up when the RTK mosaic-T has power. If the PWR LED is off, make sure the USB cable is connected.
No position information?The OLED display will only show position information (Lat, Long, Alt etc.) once a satellite signal has been acquired. If you see only an IP address on the display, check the SMA to TNC cable is connected correctly and that the antenna is outside with a clear view of the sky. Use a male-female SMA extension cable if needed to increase the cable length.
No serial console?If you can not see the debug messages and configuration menu in the terminal emulator, check that: you have installed the CH340 driver if needed; you are connected to the CH340 COM port; you have selected 115200 as the baud rate.
"},{"location":"print_view/#hardware-overview","title":"Hardware Overview","text":"Read Before Handling PCB!
ESD Sensitivity
The mosaic-T module is sensitive to ESD. Use a proper grounding system to make sure that the working surface and the components are at the same electric potential.
ESD PrecautionAs recommended by the manufacturer, we highly encourage users to take the necessary precautions to avoid damaging their module.
iFixit Anti-Static Wrist Strap TOL-25572
ESP32 Firmware
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.
The /Firmware/Binaries folder contains the firmware binaries.
You can update or reload the firmware using the SparkFun RTK Firmware Uploader.
You can of course modify the hardware too, should you want to. The design is completely open-source.
"},{"location":"print_view/#hardware-overview_1","title":"Hardware Overview","text":"In this section, we walk you through the hardware design, interfaces, I/O connections, power options and more.
"},{"location":"print_view/#schematic","title":"Schematic","text":"Users can download the full schematic for the RTK mosaic-T in *.pdf format.
Details about the aluminum enclosure can be found on the Metal Enclosure - Custom Aluminum Extrusion (6in. x 4in. PCB) product page.
Dimensions (PDF) of the RTK mosaic-T aluminum enclosure and the front/rear panels, in millimeters.
The circuit board dimensions are illustrated in the drawing below; the listed measurements are in inches.
Dimensions (PDF) of the RTK mosaic-T PCB, in inches.
Need more measurements?For more information about the board's dimensions, users can download the KiCad files for the board. These files can be opened in KiCad 8 and additional measurements can be made with the dimensions tool.
The dimensions and technical specifications of the GNSS antenna can be found on the GNSS Multi-Band L1/L2/L5 Surveying Antenna - TNC (SPK6618H) product page.
Dimensions of the included GNSS antenna, in mm. Source: SPK6618H Datasheet (PDF)
"},{"location":"print_view/#power-options","title":"Power Options","text":"The mosaic-T and the ESP32 both required 3.3V power. To simplify the power circuitry, the four power sources are combined into a common 5V rail which then feeds individual 3.3V regulators for the mosaic-T and the ESP32.
Power connections on the RTK mosaic-T PCB.
The RTK mosaic-T can be powered individually or in combination, with any of the following:
USB Ports - 5V; delivered via the MOSAIC CONFIG and/or ESP32 CONFIG USB-C connectors.Power-over-Ethernet - Range: 36 to 57V; delivered via the MOSAIC ETHERNET RJ45 MagJack connector.External DC Power - Range: 9 to 36V; delivered via the VIN+ and VIN- screw cage terminals.If you want to measure the board's current draw, you can open the MEAS jumper and measure the current via a pair of breakout pads (see the Jumpers section).
Diodes are used to combine and protect the power sources from each other. Also, a 2A resettable fuse (green) provides additional protection.
Info
For more details, users can reference the schematic and the datasheets of the individual components on the board.
USB-C Connectors Power-over-Ethernet (PoE) External DC Power (VIN)The mosaic-T and ESP32 both have USB-C connections. These USB ports can be used to power the RTK mosaic-T during the initial configuration when the mosaic-T or ESP32 are connected to a computer.
USB-C connectors on the RTK mosaic-T.
The USB-C device connections on the RTK mosaic-T PCB.
CH340 Driver
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 section).
The mosaic-T Ethernet port supports Power-over-Ethernet (PoE), allowing the RTK mosaic-T to be powered by the network. This is very useful when the RTK mosaic-T is mounted remotely - perhaps in a weatherproof box up on the roof. Data and power can be delivered through a single cable, avoiding the need for a separate power connection.
The Power-over-Ethernet (PoE) jack on the RTK mosaic-T.
The PoE power input circuit on the RTK mosaic-T PCB.
The RTK mosaic-T includes a fully-isolated DC-DC converter, for applications where you may want to power the unit from a vehicle. The DC-DC converter accepts DC voltages between 9V and 36V, regulating this down to 5V. The converter is fully isolated to 1.5kV and operates with ~90% efficiency.
The VIN+ and VIN- screw terminal pins for the external DC power input.
The DC-DC power converter and external power inputs on the RTK mosaic-T PCB.
Vehicle PowerFor 12V or 24V vehicle power:
VIN+ screw cage terminalVIN- screw cage terminalPower Source
Additionally, make sure that the power source from the vehicle is not directly tied to the vehicle's battery, Always On, or accessory circuits. Otherwise, users will risk draining the battery while the engine is off.
We recommend locating the ignition on or switched power circuit, which is only powered when the key is in the On position and the engine is running.
Note
The On position, is where a key normally rests after the engine is started. However, users can still move the key from the Off position and into the On position without starting the engine. In this case, the alternator is not running and keeping the battery charged.
Modern eco-efficient vehicles may automatically shut down the engine if the vehicle is idling too long. Therefore, cutting off the vehicle's alternator that keeps the battery charged. Luckily, most vehicles with this automatic start/stop technology will monitor the battery's voltage and restart the engine when required. With this in mind, users may want to initially monitor their battery voltage, in case their vehicle isn't \"so smart\" .
Ground LoopIf desired, users can link VIN- to the adjacent GND screw cage terminal. However, this will bypass the voltage isolation and could introduce an unwanted ground loop, particularly if the GNSS antenna ground (shield, 0V) is also connected to the chassis.
The heart of our product is of course the mosaic-T GNSS module from Septentrio. It is a very sophisticated chip with multiple interfaces: UARTS, USB and Ethernet. The COM3 UART pins, plus GPIO1 and GPIO2, are available as 0.1\" test points should you need access to them.
The Septentrio mosaic-T GNSS module.
"},{"location":"print_view/#espressif-logo-esp32-wrover","title":"Espressif logo\u00a0ESP32-WROVER","text":"The ESP32 processor is there to control (discipline) the 10 MHz TCXO oscillator and the OLED display. We have deliberately kept the ESP32 firmware as simple as possible. The intention is that you can write your own firmware using the Espressif IDF or Arduino IDE if you need to. The ESP32-WROVER-IE antenna is connected to the ESP32 RP SMA connector on the rear panel but it is unused by the SparkFun firmware.
The Espressif ESP32-WROVER processor.
Think of the ESP32 as a co-processor, or riding shotgun... The mosaic-T COM1 and COM4 UARTs are linked to the ESP32, allowing the two to communicate directly without needing an Ethernet link. In our firmware, the PVTGeodetic and ReceiverTime messages are output on COM1. The ESP32 displays some of their content on the I2C OLED display, and then uses the content to discipline the TCXO oscillator. See Oscillator for more details.
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.
The /Firmware/Binaries folder contains the firmware binaries.
You can update or reload the firmware using the SparkFun RTK Firmware Uploader.
"},{"location":"print_view/#ethernet-phy-interface","title":"Ethernet PHY Interface","text":"The mosaic-T has a KSZ8041NLI Ethernet PHY interface, connected using a Reduced Media-Independent Interface (RMII).
Ethernet (PoE) conection.
The Ethernet PHY on the RTK mosaic-T PCB.
No IP address?Check the Ethernet interface is enabled. It may be disabled. Connect via the CONFIG MOSAIC USB-C port and open 192.168.3.1 on a web browser. Check the Communication Ethernet sub-page.
mosaic-T web page (PNG) with Ethernet disabled.
mosaic-T web page (PNG) with Ethernet enabled.
By default, the mosaic-T Ethernet port is configured for Dynamic Host Configuration Protocol (DHCP). It expects the router / Ethernet switch to provide it with an IP address. If the IP address is all zeros (0.0.0.0), check that your router has DHCP enabled. Most do.
If you need a static IP address, you can configure this through the mosaic-T's Communication Ethernet sub-page.
Subnet 3 is reserved for the mosaic-T's USB-C connection (Ethernet-over-USB). If your router / switch is allocating addresses using subnet 3 (192.168.3.***), please change its settings so it uses a different subnet.
"},{"location":"print_view/#usb-c-connectors","title":"USB-C Connectors","text":"The mosaic-T and ESP32 both have USB-C connections. The MOSAIC USB port is high-speed and connected to the T through a balancing transformer. The ESP32 USB port is connected through a CH340 USB-UART IC.
USB-C connections: mosaic-T (left) and ESP32 (right).
The USB-C data connections on the RTK mosaic-T PCB.
Info
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.
CH340 Driver
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 section).
"},{"location":"print_view/#sd-socket","title":"\u00b5SD Socket","text":"The \u00b5SD socket is connected directly to the mosaic-T via a one-bit SDIO interface for fast data logging. The mosaic-T supports \u00b5SD cards with a FAT32 file system (i.e. only cards up to 32GB in size).
\u00b5SD slot and LOG button.
\u00b5SD socket and Log button on the RTK mosaic-T PCB.
Operation InstructionsInitial Configuration
Before logging can take place, it is necessary to define a \"logging stream\" using the Logging page or RxTools. Streams can contain NMEA or SBF (Septentrio Binary Format) data; SBF can contain RTCM and/or RINEX.
\u00b5SD logging stream configuration.
Instructional Video
How to log data to the SD card of the Septentrio mosaic receiver module
Once the stream is defined, users can control the data logging operation through the LOG button.
LOG LED will flash while logging is taking place.The RTK mosaic-T has robust SMA connectors for the mosaic-T GNSS antenna, 50 Ohm Pulse-Per-Second, 10 MHz disciplined sine wave, and the ESP32 WiFi / BT antenna.
The SMA connector for the GNSS antenna.
The connection for the GNSS antenna to the mosaic-T.
The mosaic-T GNSS SMA connector is standard polarity and provides 5V power for an active antenna.
The SMA connector for the 50 Ohm Pulse-Per-Second output.
The connection for the 50 Ohm Pulse-Per-Second output.
The Pulse-Per-Second SMA connector is standard polarity. The output impedance is 50 Ohm. The voltage is selectable via the VCCIO switch: 3.3V or 5V. The output is DC-coupled.
The SMA connector for the 50 Ohm disciplined 10 MHz sine wave output.
The connection for the 50 Ohm disciplined 10 MHz sine wave output.
The 10 MHz sine wave SMA connector is standard polarity. The output impedance is 50 Ohm. The voltage is adjustable via the VCCIO switch. The output is AC-coupled and is approximately 1VPP.
The RP-SMA connector for the WiFi/BLE antenna.
The connection for the WiFi / BLE antenna to the ESP32.
The ESP32 WiFi / BT SMA connector is reverse-polarity (RP). A short u.FL cable connects the SMA connector to the ESP32-WROVER itself.
Note: this connector is not used by the current RTK mosaic-T firmware. It is there in case you want to develop your own firmware with WiFi / BT connectivity.
Connector Polarity
When selecting antennas and/or cables for the RTK mosaic-T, double-check the polarity for the connections.
"},{"location":"print_view/#io-terminals","title":"I/O Terminals","text":"The RTK moasic-T is equipped with a 10-way 3.5mm screw cage terminal connector.
I/O Screw Terminal Connections.
I/O Screw Terminal Connections on the RTK mosaic-T PCB.
These terminals are described in the tabs below. For more information on the I/O terminals, you can refer to the schematic.
External PowerGNDmosaic-TCOM2CTSEVENT A & BPPS The VIN+ and VIN- terminals allow the RTK mosaic-T to be powered by an external DC power source - typically a 12V / 24V vehicle battery.
Terminal Function VIN+ External voltage: Min: 9V; Max: 36V VIN- Ground / Chassis / 0V
Info
The DC-DC converter in the RTK mosaic-T provides 1.5kV isolation between VIN+/VIN- and 5V/GND. There is no direct electrical connection between VIN- and GND.
Ground Loop
If desired, users can link VIN- to the adjacent GND screw cage terminal. However, this will bypass the voltage isolation and could introduce an unwanted ground loop, particularly if the GNSS antenna ground (shield, 0V) is also connected to the chassis.
Ground / 0V or logic-low reference.
Info
The DC-DC converter in the RTK mosaic-T provides 1.5kV isolation between VIN+/VIN- and 5V/GND. There is no direct electrical connection between GND and VIN-.
Ground Loop
If desired, users can link GND to the adjacent VIN- screw cage terminal. However, this will bypass the voltage isolation and could introduce an unwanted ground loop, particularly if the GNSS antenna ground (shield, 0V) is also connected to the chassis.
The mosaic-T UART COM2 connections are connected as follows:
Terminal Function Notes RX COM2 UART Receive - Input TX COM2 UART Transmit - Output RTS COM2 UART Request To Send - Output The module drives this pin low when ready to receive data CTS COM2 UART Clear To Send - Input Must be driven low when ready to receive data from the module
Tip
The COM2 I/O voltage is set by the VCCIO voltage selection switch.
Tip
The RX and CTS inputs have weak (100K) pull-ups to VCCIO.
Tip
The CTS terminal can be configured as a VCCIO power output by soldering the jumper closed on the PCB.
The CTS terminal can be configured as a VCCIO power output by soldering the jumper closed on the PCB.
VCCIO jumper.
Tip
Soldering the jumper closed will place the mosaic-T COM2 CTS into the high (not ready) state. Flow control (hardware handshaking) is not possible when the jumper is closed. Flow control is disabled by default. If needed, flow control can be (re)disabled through the web interface or by sending (e.g) scs, COM2, baud115200, bits8, No, bit1, none
The VCCIO voltage can be set to 3.3V or 5V via the small internal slide switch highlighted below:
VCCIO voltage selection switch.
The CTS terminal can then be used as a power output or logic-high references. Likewise, the GND terminal can be used for power return or as logic-low references.
Terminal Function CTS 3.3V or 5V power output or logic-high reference GND Ground / 0V or logic-low reference
Info
The default position of the VCCIO switch is 3.3V.
Tip
The CTS and GND pins could be used to power (e.g.) a LoRa module. When VCCIO is 3.3V, we recommend limiting the current draw from VCCIO to 200mA maximum. The upstream 3.3V regulator is rated at 600mA but it also provides power for the mosaic-T and Ethernet PHY. When VCCIO is set to 5V, the current draw can be higher - the suggested maximum is 500mA.
The mosaic-T EVENTA and EVENTB inputs can be used to mark or timestamp external events:
Terminal Function EVENTA Event A : Input EVENTB Event B : Input
Tip
The EVENT voltage level is set by the VCCIO voltage selection switch.
Tip
The EVENT inputs are pulled low internally. Pull up to VCCIO to trigger an event.
Tip
An easy way to observe the events is with RxTools RxControl Expert Console (under Tools) ExEvent tab:
Capturing external events from EVENTA and EVENTB.
The mosaic-T PPS is a configurable Pulse-Per-Second output. By default, PPS is high for 5ms at 1Hz. The polarity, frequency and pulse width can be adjusted through the ESP32 firmware settings.
Tip
The PPS pulses are disabled initially and only enabled when the TCXO oscillator is locked to the correct frequency. See Oscillator for more details.
Terminal Function PPS Pulse-Per-Second : Output
Tip
The PPS voltage is set by the VCCIO voltage selection switch.
"},{"location":"print_view/#status-leds","title":"Status LEDs","text":"There are six status LEDs on the RTK mosaic-T:
PWR - Power (Red)LOG - \u00b5SD Logging (Red)LOCK - Oscillator Lock (Green)PVT - Position Velocity Time (Green)ERROR - GNSS Error (Yellow)RTK - Real-Time Kinematic (Yellow)The status indicator LEDs on the RTK mosaic-T.
The status indicator LEDs on the RTK mosaic-T PCB.
"},{"location":"print_view/#oled-display","title":"OLED Display","text":"The RTK mosaic-T has a 128x64 pixel OLED display, controlled by the ESP32 via I2C. After some initial diagnostic messages, the display will show position, time and other data from the mosaic-T PVTGeodetic, ReceiverTime and IPStatus SBF blocks.
The OLED display on the RTK mosaic-T.
OLED display (PNG) for the RTK mosaic-T.
The display is updated on arrival of the ReceiverTime message. You may see a small lag between the display and the actual time system time, but it will be minimal.
"},{"location":"print_view/#buttons","title":"Buttons","text":"There are three buttons on the RTK mosaic-T: RESET, BOOT, and LOG.
Buttons on the RTK mosaic-T.
Buttons on the RTK mosaic-T PCB.
Septentrio logo\u00a0mosaic-T: Data LoggingEspressif logo\u00a0ESP32: ResetEspressif logo\u00a0ESP32: Boot ControlOnce a logging stream is defined, users can control the data logging operation through the LOG button.
LOG LED will flash while logging is taking place.Instructional Video
How to log data to the SD card of the Septentrio mosaic receiver module
The RESET button allows users to reset the firmware running on the ESP32-WROVER module without disconnecting the power.
The BOOT button can be used to force the ESP32 into the serial bootloader. Holding down the BOOT button, while connecting the RTK mosaic-T to a computer through its USB-C connector or resetting the board will cause it to enter the Firmware Download mode. The ESP32 will remain in this mode until it power cycles (happens automatically after uploading new firmware) or the RESET button is pressed.
Check out our Jumper Pads and PCB Traces tutorial for a quick introduction!
How to Work with Jumper Pads and PCB Traces
There are several jumpers on the RTK moasic-T PCB which can be used to (e.g.) disable the LEDs or allow measurement of the board's current draw.
The jumpers on the top of the RTK mosaic-T PCB.
The jumpers on the bottom of the RTK mosaic-T PCB.
TopBottomWarning
When assembling the RTK mosaic-T, users should attach any power connections last. While there shouldn't be any issues with hot-swapping peripherals, it is common practice to power electronics as the last step of the assembly process (and the power should be disconnected before removing components).
What is in the Box?The RTK mosaic-T comes packaged as a complete kit, with all the accessories you'd need to set it up.
Everything that is included in the RTK mosaic-T kit.
Inside the box, users will find the GNSS antenna, RTK mosaic-T in its aluminum enclosure, and another box containing additional accessories. Inside, the accessory box, users will find the CAT-6 Ethernet cable, USB cable, SMA to TNC cable, USB power supply, WiFi antenna, and 32GB SD card.
The contents of the RTK mosaic-T package.
Products in the accessories box.
"},{"location":"print_view/#usb-c-ports","title":"USB-C Ports","text":"The USB ports are utilized to configure the mosaic-T module and ESP32 firmware settings. Additionally, the USB ports can also be used as a power source for the RTK mosaic-T.
The USB port to the mosaic-T can be used to configure the module through an IP port, for serial communication to stream the GNSS data, and access the SD card as a mass storage device. To connect to the mosaic-T, users only need to plug a USB-C cable into the CONFIG MOSAIC USB port and their computer.
The RTK mosaic-T with USB-C cable being attached.
With the default firmware, the USB port for the ESP32 is used for serial communication to tune the parameters for the TCXO oscillator and the Pulse-Per-Second output. To configure the settings, users only need to plug a USB-C cable into the CONFIG ESP32 USB port and their computer, and then open a terminal emulator at 115200 baud.
The RTK mosaic-T with USB-C cable being attached.
Software Requirements
Depending on their computer's operating system, users may need to install USB drivers to interface with the mosaic-T and/or the ESP32. Users may also need to install a terminal emulator for serial communication with the mosaic-T and the ESP32.
"},{"location":"print_view/#antennas","title":"Antennas","text":"In order to receive GNSS signals, users will need a compatible antenna. With the parts included in this kit, connect the L1/L2/L5 (tri-band) GNSS antenna to the RTK mosaic-T using the TNC-to-SMA cable.
Attaching a tri-band GNSS antenna to the TNC-SMA cable.
Attaching a TNC-SMA cable to the SMA connector on the RTK mosaic-T.
Mounting LocationUsers should mount their GNSS antenna outside, where it will have a clear, unobstructed view of the sky. Avoid areas with nearby buildings, EMF structures (i.e. radio towers or power lines), and vegetation (i.e. trees). These objects can increase errors due to signal muti-path, interference, and elevated noise plane.
The tri-band GPS antenna, mounted outside with an unobstructed view of the sky.
Connector PolarityWhen selecting antennas and/or cables for the RTK mosaic-T, double-check the polarity of the connection.
"},{"location":"print_view/#ethernet-jack","title":"Ethernet Jack","text":"There is a single ethernet jack on the RTK mosaic-T, which can be used to provide network access to the mosaic-T module. It supports power over ethernet (PoE) to power the device.
The jack to the mosaic-T allows users to provide internet access and power; it supports PoE. To provide network access, users should connect the RTK mosaic-T from the ETHERNET (PoE) jack to their local network with the (CAT-6) ethernet cable provided in the kit.
The RTK mosaic-T with ethernet cable being attached to the ETHERNET (PoE) jack.
Users can configure the mosaic-T module through the network connection.
No IP address?Check the Ethernet interface is enabled. It may be disabled. Connect via the CONFIG MOSAIC USB-C port and open 192.168.3.1 on a web browser. Check the Communication Ethernet sub-page.
mosaic-T web page (PNG) with Ethernet disabled.
mosaic-T web page (PNG) with Ethernet enabled.
By default, the mosaic-T Ethernet port is configured for Dynamic Host Configuration Protocol (DHCP). It expects the router / Ethernet switch to provide it with an IP address. If the IP address is all zeros (0.0.0.0), check that your router has DHCP enabled. Most do.
If you need a static IP address, you can configure this through the mosaic-T's Communication Ethernet sub-page.
Subnet 3 is reserved for the mosaic-T's USB-C connection (Ethernet-over-USB). If your router / switch is allocating addresses using subnet 3 (192.168.3.***), please change its settings so it uses a different subnet.
"},{"location":"print_view/#sd-card-slot","title":"SD Card Slot","text":"An \u00b5SD card slot is available for users to log and store data, locally on the board. Users will need to insert a compatible SD card and configure the mosaic-T module for data logging.
Inserting an SD card into the RTK mosaic-T.
SD Card Compatibility
The mosaic-T supports \u00b5SD cards with a FAT32 file system (i.e. only cards up to 32GB in size).
Initial ConfigurationBefore logging can take place, it is necessary to define a \"logging stream\" using the Logging page or RxTools. Streams can contain NMEA or SBF (Septentrio Binary Format) data; SBF can contain RTCM and/or RINEX.
microSD logging stream configuration.
Instructional Video
How to log data to the SD card of the Septentrio mosaic receiver module
Button OperationThere are multiple ways to configure and enable data logging to an SD card. However, the simplest method is with the LOG button. Once the stream is defined,
For more information, please reference the SD Card Slot section.
"},{"location":"print_view/#io-terminals_1","title":"IO Terminals","text":"Users can easily attach accessories to the RTK mosaic-T by wiring them into the terminal blocks on the back of the enclosure.
Connecting a wire to the terminal block.
Multiple ConnectionsFor multiple connections or wiring harnesses, users can disconnect the terminal block from its socket on the RTK mosaic-T.
Components of the terminal block.
Users can wiggle or use a soft/rigid object to carefully pry the terminal block off from its connector. In the picture below, a plastic name tag (~1.5mm thick) is used to carefully pry the terminal block up. We have also found the edge of a PCB ruler works great too.
Using a soft/rigid object to carefully pry the terminal block free from its socket.
Once wired up, users can simply push the terminal block back into its socket.
Connecting a wire to the terminal block.
Attaching the terminal block to its socket on the RTK mosaic-T.
Warning
To avoid shorts or damaging the RTK mosaic-T, verify the wiring with the labels on the back of the enclosure.
"},{"location":"print_view/#software-overview","title":"Software Overview","text":"ESP32 Firmware
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.
The /Firmware/Binaries folder contains the firmware binaries.
You can update or reload the firmware using the SparkFun RTK Firmware Uploader.
You can of course modify the hardware too, should you want to. The design is completely open-source.
Note
The mosaic-T module has numerous capabilities and a multitude of ways to configure and interface with them. Without regurgitating all the information that is documented in Septentrio's user manuals and videos, we have tried to highlight a good majority of the module's aspects.
With that said, please feel free to file an issue if you feel we have missed something that may benefit other users. (Don't forget to provide us with a link to the documentation and what section the information is located.)
"},{"location":"print_view/#septentrio-logo-mosaic-t_1","title":"Septentrio logo\u00a0mosaic-T","text":""},{"location":"print_view/#rxtools-software-suite","title":"RxTools Software Suite","text":"Tip
Even if you aren't necessarily interested in it, we highly recommend that users install the RXTools software suite before plugging in their board. For Windows PCs, it also includes the USB driver for the module that enables the Ethernet-over-USB support and virtual COM ports.
Users should install the RXTools software suite on their computer to interact with the mosaic-T module through the USB interface. The software package includes the USB-IP driver1 necessary to recognize the board as an ethernet device on Windows PCs (1).
Download the RxTools Software from Septentrio
System Requirements2 Operating SystemsHardware Requirementsbin2asc) will run on older distributions.The minimal hardware requirements (1Hz update3):
Users can install RxTools software suite by running the installation executable4(1), located in the RxTools\\windows directory of the downloaded *.zip file5. During the installation process, users will be notified if a previous version of RxTools is already installed then the previous version will be uninstalled. Next, users will need to provide an installation directory for the RxTools software suite. Users will then select which of the following applications6 are installed:
RxTools_22_1_0_Installer.exe for Windows PCs.Warning
It is recommended that users NOT install RxControl as root, for security reasons and to avoid installation overwrites of other system settings. To make RxTools available to more than one user, provide a shared installation directory.
Users can install RxTools software suite by running the installation binary4(1), located in the RxTools/linux-i386/ directory of the downloaded *.zip file5. During the installation, users will be prompted for an installation directory. If there are any previous installations of RxControl, please use a different directory to avoid conflicts.
RxTools_22_1_0_Installer.bin for Linux.Once installed, users may need to reconfigure their permission settings:
RxTools will need rights to access the /dev/ttyS* serial ports.
To access the serial ports, users must be part of the uucp and lock groups (1). This can be configured by editing the /etc/group7 file and adding the username to the lines defining the uucp group and the lock group.
For example, when adding the user jsmith to the uucp group, users would modify the /etc/group file as shown below:
uucp:x:14:uucp # (2)!\nuucp:x:14:uucp,jsmith # (3)!\nOn Linux machine administered centrally on a local network, ask your system administrator to be included in the uucp and lock groups.
RxTools also needs read/write (rw) access(4) to the /dev/ttyS* serial ports.
Users can change the permissions with the chmod8 command:
chmod 660 /dev/ttyS<add port> # (5)!>\n/dev/ttyS* devices are owned by root and belong to the uucp group with read/write (rw) access. Additionally, the devices are normally locked by writing a file in the /var/lock/ directory, with the same permissions.rw) access to the /dev/ttyS* serial ports./dev/ttyS0 might be port COM1Note
In order for these changes to take effect, users must update their environment by logging out and back in.
Be aware that the X-session has to be restarted as well. On most systems, this can be done by pressing the key combination Ctrl + Alt + Backspace
64-bit OSIn order to run the RxTools on a 64-bit Linux operating system, users might have to install the 32-bit version of the C standard library.
glibc.i686 package.ia32-libs package.If users haven't already installed the RxTools software suite on their Windows PC, they will need to install the USB driver1 necessary to recognize and interact with the mosaic-T module through the USB interface.
A Windows USB driver for the mosaic-T can be installed through two methods:
Once installed, the driver emulates two virtual serial ports, which can be accessed as standard COM ports to the receiver.
Most terminal emulation programs will not make a distinction between virtual or native COM ports. However, for virtual serial ports, the port settings (i.e. baud rate, etc.) are not relevant and the default configuration is used in the terminal emulation program. However, the physical/native COM ports will have the following default setting:
For users who are having trouble installing the USB driver, we have an archived version (v3.0.29) of the installation file. Users can download version 3.0.2 of the driver, by clicking on the button below.
Download USB Driver (v3.0.2)
On Linux, the standard Linux CDC-ACM driver is suitable for the mosaic-T module.
"},{"location":"print_view/#web-interface","title":"Web Interface","text":"With the USB driver installed, the mosaic-T module supports Ethernet-over-USB. The default IP address allocated for the Ethernet-over-USB interface is 192.168.3.1. This IP can be entered in any browser to open a connection to the receiver's Web Interface as shown below.
All the drop-down navigation tabs in the web interface.
Info
The default IP address cannot be changed; this feature is only to be used when a single receiver is connected to your computer.
Invalid IP Address (WiFi Only)One of the documentation pages on Septentrio's website, specifies a default IP address of 192.168.20.1 for the web interface. However, that address is for a WiFi enabled product and cannot be used with this product.
Users will need to install a USB driver for the CH340 serial-to-USB chip, in order to communicate with the ESP32 module. The latest USB drivers for the CH340 are available from the manufacturer, on the WCH website:
Download the latest CH340 USB driver from WCH
Need Directions?For users having trouble installing the CH340 USB driver, check out our video and hookup guide:
How to Install CH340 Drivers
"},{"location":"print_view/#terminal-emulator","title":"Terminal Emulator","text":"In order to configure the firmware settings on the ESP32, users will need to install a serial terminal emulator on their computer.
WindowsLinuxFor Windows computers, we highly recommend TeraTerm.
Some Linux operating systems will already have the screen terminal emulator preinstalled.
Need Directions?
Check out our hookup guide to install your favorite terminal emulator:
Serial Terminal Basics
"},{"location":"print_view/#fugro-atomichronr","title":"Fugro AtomiChron\u24c7","text":"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.
Without an AtomiChron subscription, the firmware will use the composite GNSS RxClkBias from PVTGeodetic to discipline the TCXO frequency.
By default, the Fugro AtomiChron subscription shows as \"expired\".
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.
The mosaic-T with an active Fugro AtomiChron subscription.
"},{"location":"print_view/#software-settings","title":"Software Settings","text":"When connected to the ESP32 CH340 COM port at 115200 baud, pressing any key in the terminal emulator will open the firmware Main Menu:
The ESP32 firmware main menu.
"},{"location":"print_view/#configure-operation","title":"Configure Operation","text":"Select option c (\"c\" followed by \"Enter\") to configure the firmware:
The ESP32 firmware configuration menu.
To reset all settings to their default values, select \"r\", \"Enter\", \"y\", \"Enter\"
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.
The TCXO frequency control word is saved to NVM once per hour, to allow a quicker startup at the next power-on.
"},{"location":"print_view/#tcp-server-ips1","title":"TCP Server (IPS1)","text":"When TCP Server (IPS1) is enabled, the ESP32 serial console is diverted from the CH340 (USB) interface to the mosaic-T COM3 UART interface. The serial data is then daisy chained from COM3 to the IPS1 TCP server.
When TCP Server (IPS1) is enabled, the configuration menu and debug messages can be accessed over TCP / Telnet on the chosen port. The CH340 (USB) interface is then no longer active.
TCP / Telnet is supported over both Ethernet and the Ethernet-over-USB connection. Only one TCP2Way connection is supported.
If you are using Tera Term:
Tera Term configuration for TCP.
"},{"location":"print_view/#debug-software","title":"Debug Software","text":"Select option d (\"d\" followed by \"Enter\") to configure the software debug options:
The ESP32 firmware debug menu.
The debug options are what we use at SparkFun to check that the firmware is running correctly. You should not need change any of the options, except perhaps option 8 Print conditions. This option controls the periodic CSV messages seen in the console when the menu is closed. The format can be changed to human-readable text, or the messages can be disabled if desired.
"},{"location":"print_view/#print-conditions-periodic-messages","title":"Print Conditions (periodic messages)","text":"The format of the Print conditions CSV data is:
YYYY/MM/DD,HH:MM:SS,Epoch,Lat,Lon,Alt,TimeSys,Error,Fine,PPS,Bias,Source,TCXO,Pk,Ik
SiT5358 TCXO Oscillator.
For the best frequency accuracy, stability and holdover, the RTK mosaic-T utilizes a SiTime SiT5358 Digitally-Controlled Temperature-Controlled Crystal Oscillator (DCTCXO). The SiT5358 is a precision MEMS Super-TCXO optimized for \u00b150 ppb stability from -40\u00b0C to 105\u00b0C. Engineered for best dynamic performance, it is ideal for high reliability telecom, wireless and networking, industrial, precision GNSS and audio/video applications.
The SiT5358 is interfaced to the mosaic-T through a level-shifting buffer, replacing the mosaic's internal oscillator and allowing the oscillator frequency to be tuned (disciplined) under software control. The 10 MHz SMA output is generated by a duplicate level-shifter to ensure an equal delay, and filtered through a 3rd order Butterworth bandpass filter.
"},{"location":"print_view/#software-control-loop","title":"Software Control Loop","text":"The SiT5358 is interfaced to the mosaic-T according to Appendix D of the mosaic Hardware Manual: \"mosaic-Based Disciplined Clock\".
The ESP32 is interfaced to two of the mosaic-T's COM (UART) ports: COM1 and COM4. The ESP32 configures the mosaic-T via COM4. COM1 is dedicated as an output port for the SBF blocks used to tune the oscillator frequency.
When the firmware boots, the mosaic-T is configured as follows:
These commands configure the mosaic so that it: starts-up with the PPS pulses disabled; performs an initial precise synchronization to GNSS time; and outputs the PVTGeodetic and ReceiverTime blocks on COM1 at 1Hz. IPStatus is output each time one or more IP parameters change. With a Fugro Atomichron subscription, the FugroTimeOffset message will be generated each time one of the clock biases changes.
The firmware monitors the message blocks on COM1. The ERROR LED follows the PVTGeodetic Error code. The LED is extinguished when Error is zero.
The firmware waits until the ReceiverTime SyncLevel FINETIME bit is set, indicating that the receiver time initialization is complete. Once the FINETIME bit is set, it remains set until the next reset of the receiver.
The firmware then monitors the PVTGeodetic RxClkBias (as 64-bit float in milliseconds). When RxClkBias is positive, receiver time is ahead of system time and the oscillator frequency should be reduced. When RxClkBias is negative, receiver time is behind system time and the oscillator frequency should be increased. The firmware will adjust the SiT5358 oscillator frequency via the 26-bit Digital Frequency Control register accordingly. As per Appendix D, the frequency will be changed by no more than 3ppb per second.
The Proportional (P) and Integral (I) terms can be adjusted via the ESP32 firmware settings.
The LOCK LED will illuminate and PPS pulses will be generated when RxClkBias is less than 10ns. The OLED will show PPS On when pulses are being generated.
The 10ns lock threshold / limit can be changed by the user through the ESP32 USB-C interface and saved in non-volatile memory.
The Pulse-Per-Second parameters can also be configured by the user through the USB-C interface: interval, polarity, delay, time scale, max sync age, pulse width.
Should PVTGeodetic Error indicate an error (i.e. become non-zero), the loop will continue but no changes will be made to the oscillator frequency until the error is cleared.
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.
"},{"location":"print_view/#enable-the-l5-band","title":"Enable the L5 Band","text":"The RTK mosaic-T is L5-capable but, because the GPS L5 service is currently pre-operational and marked as \"unhealthy\", it takes some extra configuration steps to enable L5:
"},{"location":"print_view/#web-interface_1","title":"Web Interface","text":"Admin > Expert Control > Control Panel > Navigation > Receiver Operation > Masks - Set \"Discard unhealthy satellites\" to off for both \"Tracking\" and \"PVT\"
L5 Configuration - Step 1 (PNG).
Navigation > Advance User Settings > Tracking > Signal Tracking : Enable GPSL5 signal tracking
L5 Configuration - Step 2 (PNG).
Navigation > Advance User Settings > PVT > Signal Usage - Enable GPSL5 in both \u201cPVT\u201d and \u201cnavigation data decoder\u201d
L5 Configuration - Step 3 (PNG).
Info
Make sure to click \u201cOK\u201d at the bottom of each page where you are making changes to update the current configuration, and don\u2019t forget to save it to boot if you want the configuration to persist when you cycle power.
"},{"location":"print_view/#command-interface","title":"Command Interface","text":"setHealthMask, Tracking, offsetHealthMask, PVT, offsetSignalTracking, +GPSL5setSignalUsage, +GPSL5, +GPSL5Septentrio also provides great resources for the mosaic-T:
Recommended Articles
General Knowledge
mosaic - Getting started Resetting a receiver Resetting and clearing the non-volatile memory Generating a diagnostic report of a Septentrio receiver RTCMv3 messages supported by the Septentrio receivers Interference Detection, Mitigation, and Flagging
Providing Corrections
How to set up a base station RTK positioning with a moving baseline Set up an (internal) NTRIP caster on a Septentrio receiver
Applying Corrections
Receive corrections over IP Receive corrections via NTRIP Using uBlox's correction services for precise positioning
Antenna Corrections
Antenna calibration Applying ARP/APC offsets
Recommended Videos
Getting started with the mosaic receiver module Output NMEA data on the mosaic receiver module Receiving NTRIP corrections on the mosaic module Logging data to the Septentrio mosaic receiver module Receiving corrections over an IP connection Share the USB internet connection on your receiver Septentrio's Agnostic GNSS Corrections program Test-run for Septentrio's anti-jamming feature mosaic - GNSS module receiver range from Septentrio
Full details about Fugro's AtomiChron time synchronisation service can be found on their website:
Need Help?
If you need technical assistance or more information on a product that is not working as you expected, we recommend heading over to the SparkFun Technical Assistance page for some initial troubleshooting.
SparkFun Technical Assistance Page
If you can't find what you need there, the SparkFun GNSS Forum is a great place to ask questions.
Account Registration Required
If this is your first visit to our forum, you'll need to create a Forum Account to post questions.
"},{"location":"print_view/#what-is-in-the-box","title":"What is in the Box?","text":"The RTK mosaic-T comes packaged as a complete kit, with all the accessories you'd need to set it up. Inside the box, users will find the GNSS antenna, RTK mosaic-T in its aluminum enclosure, and another box containing additional accessories. Inside, the accessory box, users will find the CAT-6 Ethernet cable, USB cable, SMA to TNC cable, USB power supply, WiFi antenna, and 32GB SD card.
Everything that is included in the RTK mosaic-T kit.
The contents of the RTK mosaic-T package.
Products in the accessories box.
If you are missing any of these items, please reach out to us in our forum.
SparkFun Forum - GNSS Topic
"},{"location":"print_view/#data-logging","title":"Data Logging","text":"For data logging issues, here are some simple troubleshooting tips:
FAT32 file system.FAT32 file system also limits the maximum capacity of the card to less than 32GB (i.e. a 256GB SD card will not work).Got a few dead pixels on your OLED display? Please reach out to us in our forum.
SparkFun Forum - GNSS Topic
"},{"location":"print_view/#vehicle-power-dead-battery","title":"Vehicle Power - Dead Battery","text":"Is the RTK mosaic-T killing your vehicle's battery?
Make sure that the external power source for the RTK mosaic-T is not directly tied to the vehicle's battery, Always On, or accessory circuits. Otherwise, users will risk killing the battery while the engine is off. We recommend locating the ignition on or switched power circuit, which is only powered when the key is in the On position and the engine is running.
Note
The On position, is where a key normally rests after the engine is started. However, users can still move the key from the Off position and into the On position without starting the engine. In this case, the alternator is not running and keeping the battery charged.
Modern eco-efficient vehicles may automatically shut down the engine if the vehicle is idling too long. Therefore, cutting off the vehicle's alternator that keeps the battery charged. Luckily, most vehicles with this automatic start/stop technology will monitor the battery's voltage and restart the engine when required. With this in mind, users may want to initially monitor their battery voltage, in case their vehicle isn't \"so smart\" .
"},{"location":"print_view/#l5-band","title":"L5 Band","text":"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 page.
"},{"location":"print_view/#reprogramming-the-esp32","title":"Reprogramming the ESP32","text":"In case users accidentally reprogram or corrupt the flash memory on the ESP32, the /Firmware/Binaries folder contains the firmware binaries.
You can update or reload the firmware using the SparkFun RTK Firmware Uploader.
The full firmware source code is available in our GitHub repository
"},{"location":"print_view/#enclosure-disassembly","title":"Enclosure Disassembly","text":"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.
Read Before Disassembly!
ESD Sensitivity
The mosaic-T module is sensitive to ESD. Use a proper grounding system to make sure that the working surface and the components are at the same electric potential.
ESD PrecautionAs recommended by the manufacturer, we highly encourage users to take the necessary precautions to avoid damaging their module.
iFixit Anti-Static Wrist Strap TOL-25572
Before disassembling the enclosure, users should disconnect the power and all cables from the RTK mosaic-T. This will prevent users from creating any shorts and will facilitate the teardown process further on.
The RTK mosaic-T PCB is held in place by the front and rear panels of the enclosure. While users can remove the panels first, we recommend that users disconnect the screw terminal blocks first. Users may find it more difficult to separate the terminal block from the connector later in the disassembly process.
Remove the Screw Terminal Block First
Users may find it easiest to remove the screw terminal blocks first; as opposed to later in the teardown process.
Using a soft/rigid object to carefully pry the terminal block off.
Users can wiggle or use a soft/rigid object to carefully pry the terminal block off. In the picture above, a plastic name tag (~1.5mm thick) is used to carefully pry the terminal block up. We have also found the edge of a PCB ruler works great too.
Once the terminal blocks have been removed, users can remove the front and rear panels of the enclosure. They are held in place with four, M3, Phillips head screws on the corners of each panel.
Tip
We recommend removing the front panel first to prevent the Qwiic cable from being yanked off the OLED display or main PCB. Once the front panel is free, carefully lift the panel and disconnect the Qwiic cable from the top connector on the OLED display.
At this point, if users have previously disconnected all the cables and the terminal blocks from the back, the RTK mosaic-T PCB should slide out of the enclosure. Users can then, remove the rear panel from the enclosure to complete the teardown process.
On Linux, the standard Linux CDC-ACM driver is suitable.\u00a0\u21a9\u21a9\u21a9
The system requirements and installation instructions are from the RxTools v22.1.0 user manual. This information may change in later iterations of the software suite. Please refer to the user manual (of the version you are utilizing) for the most accurate information.\u00a0\u21a9\u21a9
Higher data rates will require higher CPU speed and more memory capacity.\u00a0\u21a9
Users will need administrative privileges to install the RxTools software.\u00a0\u21a9\u21a9
Users may need to extract the RxTools installation files from the downloaded, compressed file.\u00a0\u21a9\u21a9
Please see the release notes for the issues and limitations of the RxTools applications.\u00a0\u21a9
Requires c privileges.\u00a0\u21a9
Changing these permissions also requires root privileges.\u00a0\u21a9
For the latest USB driver from Septentrio, please install their driver through the RxTools software suite. This driver version was archived at the time that the mosaic-T hookup guide was written. Please do not request for the file to be updated. \u21a9
Directions
This quick start guide is intended to help users get started with their RTK mosaic-T, without having to review the technical details of the product. It includes the minimum instructions to initially set up the RTK mosaic-T, depending on the primary interface that users would like to utilize:
EthernetInstructions to connect the RTK mosaic-T to a network with an ethernet cable. This will provide the mosaic-T with network connectivity for its web server. Users can then pull up the configuration web page from any computer connected to that network.
mosaic-T USB-CFor users that just want to interface and set up the RTK mosaic-T, directly through their computer.
ESP32 USB-CFor users that want to configure the RTK mosaic-T firmware, using a terminal emulator on their computer.
Click on the tab of your preferred interface (below), to get started with the RTK mosaic-T.
Quick Start PamphletFor users who have lost the pamphlet in their kit, please check out the links below to download the *.pdf file:
Download the Quick Start Guide Click on the button (above) or scan the QR code with a mobile device, to download the *.pdf file of the quick start pamphlet.
The simplest way to get your RTK mosaic-T up and running is to connect it to your Ethernet network or an Ethernet port on your broadband router:
Ethernet Connections (PNG) for the RTK mosaic-T.
1 - Connect the GNSS antenna 2 - Connect the RTK mosaic-T to your Ethernet network or router 3 - Provide power Once the mosaic-T has acquired a satellite signal and is connected to the Ethernet network, the OLED will display: the date and time; the antenna's position as Latitude (Lat) and Longitude (Long); the Ethernet IP (Internet Protocol) network address.
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.
mosaic T web page (PNG) for the RTK mosaic-T.
Not working?
The following sections will help if your RTK mosaic-T is not working as expected:
No power?The red power (PWR) LED will light up when the RTK mosaic-T has power. If the PWR LED is off, make sure the wall adapter has power and the USB cable is connected.
If you use your own Ethernet cable for Power-over-Ethernet, check it has all eight pins connected. Some cables only have four pins connected and do not support Power-over-Ethernet.
No position information?The OLED display will only show position information (Lat, Long etc.) once a satellite signal has been acquired. If you don't see these on the display, check the SMA to TNC cable is connected correctly and that the antenna is outside with a clear view of the sky. Use a male-female SMA extension cable if needed to increase the cable length.
No IP address?Check the Ethernet interface is enabled. It may be disabled. Connect via the CONFIG MOSAIC USB-C port and open 192.168.3.1 on a web browser. Check the Communication Ethernet sub-page.
mosaic-T web page (PNG) with Ethernet disabled.
mosaic-T web page (PNG) with Ethernet enabled.
By default, the mosaic-T Ethernet port is configured for Dynamic Host Configuration Protocol (DHCP). It expects the router / Ethernet switch to provide it with an IP address. If the IP address is all zeros (0.0.0.0), check that your router has DHCP enabled. Most do.
If you need a static IP address, you can configure this through the mosaic-T's Communication Ethernet sub-page.
Subnet 3 is reserved for the mosaic-T's USB-C connection (Ethernet-over-USB). If your router / switch is allocating addresses using subnet 3 (192.168.3.***), please change its settings so it uses a different subnet.
No web page?If you can not see the mosaic-T's internal web page, please check that your computer / tablet / phone is connected to the same network. Most broadband routers support both Ethernet and WiFi simultaneously using the same subnet. If you are using a phone, check it is connected to the router WiFi - and not using its mobile data connection.
Subnet 3 is reserved for the mosaic-T's USB-C connection (Ethernet-over-USB). If your router / switch is allocating addresses using subnet 3 (192.168.3.***), please change its settings so it uses a different subnet. If it is using subnet 3, both the mosaic-T and your device will appear to have valid IP addresses but will not be able to communicate.
The mosaic-T has a built-in high-speed USB port which supports Ethernet-over-USB. To take advantage of this interface, you first need to install the Septentrio drivers.
USB Connections (PNG) for the RTK mosaic-T.
1 - Connect the GNSS antenna 2 - Download and install Septentrio RxTools 3 - Connect the RTK mosaic-T to your computer 4 - Open the web page You can now use the RxTools suite to take full advantage of the sophisticated mosaic-T.
Not working?
The following sections will help if your RTK mosaic-T is not working as expected:
No power?The red power (PWR) LED will light up when the RTK mosaic-T has power. If the PWR LED is off, make sure the USB cable is connected.
No position information?The OLED display will only show position information (Lat, Long, Alt etc.) once a satellite signal has been acquired. If you see only an IP address on the display, check the SMA to TNC cable is connected correctly and that the antenna is outside with a clear view of the sky. Use a male-female SMA extension cable if needed to increase the cable length.
No web page?If you can not see the mosaic-T's internal web page at 192.168.3.1, please check that your computer / tablet / phone is connected correctly to the USB-C port.
Subnet 3 is reserved for the mosaic-T's USB-C connection (Ethernet-over-USB). If your computer is simultaneously connected to an Ethernet or WiFi network that also uses subnet 3 (192.168.3.***), please change the network settings so it uses a different subnet.
The SparkFun RTK mosaic-T contains an ESP32-WROVER microcontroller module. You can connect to its console through the CONFIG ESP32 USB-C connector.
USB Connections (JPG) for the RTK mosaic-T.
1 - Connect the GNSS antenna 2 - Download and install a terminal emulator like Tera Term 3 - Connect the RTK mosaic-T to your computer 4 - Open the terminal emulator Not working?
The following sections will help if your RTK mosaic-T is not working as expected:
No power?The red power (PWR) LED will light up when the RTK mosaic-T has power. If the PWR LED is off, make sure the USB cable is connected.
No position information?The OLED display will only show position information (Lat, Long, Alt etc.) once a satellite signal has been acquired. If you see only an IP address on the display, check the SMA to TNC cable is connected correctly and that the antenna is outside with a clear view of the sky. Use a male-female SMA extension cable if needed to increase the cable length.
No serial console?If you can not see the debug messages and configuration menu in the terminal emulator, check that: you have installed the CH340 driver if needed; you are connected to the CH340 COM port; you have selected 115200 as the baud rate.
"},{"location":"resources/","title":"Hardware Resources","text":""},{"location":"resources/#product-resources","title":"Product Resources","text":"Septentrio also provides great resources for the mosaic-T:
Recommended Articles
General Knowledge
mosaic - Getting started Resetting a receiver Resetting and clearing the non-volatile memory Generating a diagnostic report of a Septentrio receiver RTCMv3 messages supported by the Septentrio receivers Interference Detection, Mitigation, and Flagging
Providing Corrections
How to set up a base station RTK positioning with a moving baseline Set up an (internal) NTRIP caster on a Septentrio receiver
Applying Corrections
Receive corrections over IP Receive corrections via NTRIP Using uBlox's correction services for precise positioning
Antenna Corrections
Antenna calibration Applying ARP/APC offsets
Recommended Videos
Getting started with the mosaic receiver module Output NMEA data on the mosaic receiver module Receiving NTRIP corrections on the mosaic module Logging data to the Septentrio mosaic receiver module Receiving corrections over an IP connection Share the USB internet connection on your receiver Septentrio's Agnostic GNSS Corrections program Test-run for Septentrio's anti-jamming feature mosaic - GNSS module receiver range from Septentrio
Full details about Fugro's AtomiChron time synchronisation service can be found on their website:
ESP32 Firmware
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.
The /Firmware/Binaries folder contains the firmware binaries.
You can update or reload the firmware using the SparkFun RTK Firmware Uploader.
You can of course modify the hardware too, should you want to. The design is completely open-source.
Note
The mosaic-T module has numerous capabilities and a multitude of ways to configure and interface with them. Without regurgitating all the information that is documented in Septentrio's user manuals and videos, we have tried to highlight a good majority of the module's aspects.
With that said, please feel free to file an issue if you feel we have missed something that may benefit other users. (Don't forget to provide us with a link to the documentation and what section the information is located.)
"},{"location":"software_overview/#septentrio-logo-mosaic-t","title":"Septentrio logo\u00a0mosaic-T","text":""},{"location":"software_overview/#rxtools-software-suite","title":"RxTools Software Suite","text":"Tip
Even if you aren't necessarily interested in it, we highly recommend that users install the RXTools software suite before plugging in their board. For Windows PCs, it also includes the USB driver for the module that enables the Ethernet-over-USB support and virtual COM ports.
Users should install the RXTools software suite on their computer to interact with the mosaic-T module through the USB interface. The software package includes the USB-IP driver1 necessary to recognize the board as an ethernet device on Windows PCs (1).
Download the RxTools Software from Septentrio
System Requirements2 Operating SystemsHardware Requirementsbin2asc) will run on older distributions.The minimal hardware requirements (1Hz update3):
Users can install RxTools software suite by running the installation executable4(1), located in the RxTools\\windows directory of the downloaded *.zip file5. During the installation process, users will be notified if a previous version of RxTools is already installed then the previous version will be uninstalled. Next, users will need to provide an installation directory for the RxTools software suite. Users will then select which of the following applications6 are installed:
RxTools_22_1_0_Installer.exe for Windows PCs.Warning
It is recommended that users NOT install RxControl as root, for security reasons and to avoid installation overwrites of other system settings. To make RxTools available to more than one user, provide a shared installation directory.
Users can install RxTools software suite by running the installation binary4(1), located in the RxTools/linux-i386/ directory of the downloaded *.zip file5. During the installation, users will be prompted for an installation directory. If there are any previous installations of RxControl, please use a different directory to avoid conflicts.
RxTools_22_1_0_Installer.bin for Linux.Once installed, users may need to reconfigure their permission settings:
RxTools will need rights to access the /dev/ttyS* serial ports.
To access the serial ports, users must be part of the uucp and lock groups (1). This can be configured by editing the /etc/group7 file and adding the username to the lines defining the uucp group and the lock group.
For example, when adding the user jsmith to the uucp group, users would modify the /etc/group file as shown below:
uucp:x:14:uucp # (2)!\nuucp:x:14:uucp,jsmith # (3)!\nOn Linux machine administered centrally on a local network, ask your system administrator to be included in the uucp and lock groups.
RxTools also needs read/write (rw) access(4) to the /dev/ttyS* serial ports.
Users can change the permissions with the chmod8 command:
chmod 660 /dev/ttyS<add port> # (5)!>\n/dev/ttyS* devices are owned by root and belong to the uucp group with read/write (rw) access. Additionally, the devices are normally locked by writing a file in the /var/lock/ directory, with the same permissions.rw) access to the /dev/ttyS* serial ports./dev/ttyS0 might be port COM1Note
In order for these changes to take effect, users must update their environment by logging out and back in.
Be aware that the X-session has to be restarted as well. On most systems, this can be done by pressing the key combination Ctrl + Alt + Backspace
64-bit OSIn order to run the RxTools on a 64-bit Linux operating system, users might have to install the 32-bit version of the C standard library.
glibc.i686 package.ia32-libs package.If users haven't already installed the RxTools software suite on their Windows PC, they will need to install the USB driver1 necessary to recognize and interact with the mosaic-T module through the USB interface.
A Windows USB driver for the mosaic-T can be installed through two methods:
Once installed, the driver emulates two virtual serial ports, which can be accessed as standard COM ports to the receiver.
Most terminal emulation programs will not make a distinction between virtual or native COM ports. However, for virtual serial ports, the port settings (i.e. baud rate, etc.) are not relevant and the default configuration is used in the terminal emulation program. However, the physical/native COM ports will have the following default setting:
For users who are having trouble installing the USB driver, we have an archived version (v3.0.29) of the installation file. Users can download version 3.0.2 of the driver, by clicking on the button below.
Download USB Driver (v3.0.2)
On Linux, the standard Linux CDC-ACM driver is suitable for the mosaic-T module.
"},{"location":"software_overview/#web-interface","title":"Web Interface","text":"With the USB driver installed, the mosaic-T module supports Ethernet-over-USB. The default IP address allocated for the Ethernet-over-USB interface is 192.168.3.1. This IP can be entered in any browser to open a connection to the receiver's Web Interface as shown below.
All the drop-down navigation tabs in the web interface.
Info
The default IP address cannot be changed; this feature is only to be used when a single receiver is connected to your computer.
Invalid IP Address (WiFi Only)One of the documentation pages on Septentrio's website, specifies a default IP address of 192.168.20.1 for the web interface. However, that address is for a WiFi enabled product and cannot be used with this product.
Users will need to install a USB driver for the CH340 serial-to-USB chip, in order to communicate with the ESP32 module. The latest USB drivers for the CH340 are available from the manufacturer, on the WCH website:
Download the latest CH340 USB driver from WCH
Need Directions?For users having trouble installing the CH340 USB driver, check out our video and hookup guide:
How to Install CH340 Drivers
"},{"location":"software_overview/#terminal-emulator","title":"Terminal Emulator","text":"In order to configure the firmware settings on the ESP32, users will need to install a serial terminal emulator on their computer.
WindowsLinuxFor Windows computers, we highly recommend TeraTerm.
Some Linux operating systems will already have the screen terminal emulator preinstalled.
Need Directions?
Check out our hookup guide to install your favorite terminal emulator:
Serial Terminal Basics
"},{"location":"software_overview/#fugro-atomichronr","title":"Fugro AtomiChron\u24c7","text":"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.
Without an AtomiChron subscription, the firmware will use the composite GNSS RxClkBias from PVTGeodetic to discipline the TCXO frequency.
By default, the Fugro AtomiChron subscription shows as \"expired\".
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.
The mosaic-T with an active Fugro AtomiChron subscription.
"},{"location":"software_overview/#software-settings","title":"Software Settings","text":"When connected to the ESP32 CH340 COM port at 115200 baud, pressing any key in the terminal emulator will open the firmware Main Menu:
The ESP32 firmware main menu.
"},{"location":"software_overview/#configure-operation","title":"Configure Operation","text":"Select option c (\"c\" followed by \"Enter\") to configure the firmware:
The ESP32 firmware configuration menu.
To reset all settings to their default values, select \"r\", \"Enter\", \"y\", \"Enter\"
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.
The TCXO frequency control word is saved to NVM once per hour, to allow a quicker startup at the next power-on.
"},{"location":"software_overview/#tcp-server-ips1","title":"TCP Server (IPS1)","text":"When TCP Server (IPS1) is enabled, the ESP32 serial console is diverted from the CH340 (USB) interface to the mosaic-T COM3 UART interface. The serial data is then daisy chained from COM3 to the IPS1 TCP server.
When TCP Server (IPS1) is enabled, the configuration menu and debug messages can be accessed over TCP / Telnet on the chosen port. The CH340 (USB) interface is then no longer active.
TCP / Telnet is supported over both Ethernet and the Ethernet-over-USB connection. Only one TCP2Way connection is supported.
If you are using Tera Term:
Tera Term configuration for TCP.
"},{"location":"software_overview/#debug-software","title":"Debug Software","text":"Select option d (\"d\" followed by \"Enter\") to configure the software debug options:
The ESP32 firmware debug menu.
The debug options are what we use at SparkFun to check that the firmware is running correctly. You should not need change any of the options, except perhaps option 8 Print conditions. This option controls the periodic CSV messages seen in the console when the menu is closed. The format can be changed to human-readable text, or the messages can be disabled if desired.
"},{"location":"software_overview/#print-conditions-periodic-messages","title":"Print Conditions (periodic messages)","text":"The format of the Print conditions CSV data is:
YYYY/MM/DD,HH:MM:SS,Epoch,Lat,Lon,Alt,TimeSys,Error,Fine,PPS,Bias,Source,TCXO,Pk,Ik
On Linux, the standard Linux CDC-ACM driver is suitable.\u00a0\u21a9\u21a9\u21a9
The system requirements and installation instructions are from the RxTools v22.1.0 user manual. This information may change in later iterations of the software suite. Please refer to the user manual (of the version you are utilizing) for the most accurate information.\u00a0\u21a9\u21a9
Higher data rates will require higher CPU speed and more memory capacity.\u00a0\u21a9
Users will need administrative privileges to install the RxTools software.\u00a0\u21a9\u21a9
Users may need to extract the RxTools installation files from the downloaded, compressed file.\u00a0\u21a9\u21a9
Please see the release notes for the issues and limitations of the RxTools applications.\u00a0\u21a9
Requires c privileges.\u00a0\u21a9
Changing these permissions also requires root privileges.\u00a0\u21a9
For the latest USB driver from Septentrio, please install their driver through the RxTools software suite. This driver version was archived at the time that the mosaic-T hookup guide was written. Please do not request for the file to be updated. \u21a9
Need Help?
If you need technical assistance or more information on a product that is not working as you expected, we recommend heading over to the SparkFun Technical Assistance page for some initial troubleshooting.
SparkFun Technical Assistance Page
If you can't find what you need there, the SparkFun GNSS Forum is a great place to ask questions.
Account Registration Required
If this is your first visit to our forum, you'll need to create a Forum Account to post questions.
"},{"location":"troubleshooting_tips/#what-is-in-the-box","title":"What is in the Box?","text":"The RTK mosaic-T comes packaged as a complete kit, with all the accessories you'd need to set it up. Inside the box, users will find the GNSS antenna, RTK mosaic-T in its aluminum enclosure, and another box containing additional accessories. Inside, the accessory box, users will find the CAT-6 Ethernet cable, USB cable, SMA to TNC cable, USB power supply, WiFi antenna, and 32GB SD card.
Everything that is included in the RTK mosaic-T kit.
The contents of the RTK mosaic-T package.
Products in the accessories box.
If you are missing any of these items, please reach out to us in our forum.
SparkFun Forum - GNSS Topic
"},{"location":"troubleshooting_tips/#data-logging","title":"Data Logging","text":"For data logging issues, here are some simple troubleshooting tips:
FAT32 file system.FAT32 file system also limits the maximum capacity of the card to less than 32GB (i.e. a 256GB SD card will not work).Got a few dead pixels on your OLED display? Please reach out to us in our forum.
SparkFun Forum - GNSS Topic
"},{"location":"troubleshooting_tips/#vehicle-power-dead-battery","title":"Vehicle Power - Dead Battery","text":"Is the RTK mosaic-T killing your vehicle's battery?
Make sure that the external power source for the RTK mosaic-T is not directly tied to the vehicle's battery, Always On, or accessory circuits. Otherwise, users will risk killing the battery while the engine is off. We recommend locating the ignition on or switched power circuit, which is only powered when the key is in the On position and the engine is running.
Note
The On position, is where a key normally rests after the engine is started. However, users can still move the key from the Off position and into the On position without starting the engine. In this case, the alternator is not running and keeping the battery charged.
Modern eco-efficient vehicles may automatically shut down the engine if the vehicle is idling too long. Therefore, cutting off the vehicle's alternator that keeps the battery charged. Luckily, most vehicles with this automatic start/stop technology will monitor the battery's voltage and restart the engine when required. With this in mind, users may want to initially monitor their battery voltage, in case their vehicle isn't \"so smart\" .
"},{"location":"troubleshooting_tips/#l5-band","title":"L5 Band","text":"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 page.
"},{"location":"troubleshooting_tips/#reprogramming-the-esp32","title":"Reprogramming the ESP32","text":"In case users accidentally reprogram or corrupt the flash memory on the ESP32, the /Firmware/Binaries folder contains the firmware binaries.
You can update or reload the firmware using the SparkFun RTK Firmware Uploader.
The full firmware source code is available in our GitHub repository
"},{"location":"troubleshooting_tips/#enclosure-disassembly","title":"Enclosure Disassembly","text":"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.
Read Before Disassembly!
ESD Sensitivity
The mosaic-T module is sensitive to ESD. Use a proper grounding system to make sure that the working surface and the components are at the same electric potential.
ESD PrecautionAs recommended by the manufacturer, we highly encourage users to take the necessary precautions to avoid damaging their module.
iFixit Anti-Static Wrist Strap TOL-25572
Before disassembling the enclosure, users should disconnect the power and all cables from the RTK mosaic-T. This will prevent users from creating any shorts and will facilitate the teardown process further on.
The RTK mosaic-T PCB is held in place by the front and rear panels of the enclosure. While users can remove the panels first, we recommend that users disconnect the screw terminal blocks first. Users may find it more difficult to separate the terminal block from the connector later in the disassembly process.
Remove the Screw Terminal Block First
Users may find it easiest to remove the screw terminal blocks first; as opposed to later in the teardown process.
Using a soft/rigid object to carefully pry the terminal block off.
Users can wiggle or use a soft/rigid object to carefully pry the terminal block off. In the picture above, a plastic name tag (~1.5mm thick) is used to carefully pry the terminal block up. We have also found the edge of a PCB ruler works great too.
Once the terminal blocks have been removed, users can remove the front and rear panels of the enclosure. They are held in place with four, M3, Phillips head screws on the corners of each panel.
Tip
We recommend removing the front panel first to prevent the Qwiic cable from being yanked off the OLED display or main PCB. Once the front panel is free, carefully lift the panel and disconnect the Qwiic cable from the top connector on the OLED display.
At this point, if users have previously disconnected all the cables and the terminal blocks from the back, the RTK mosaic-T PCB should slide out of the enclosure. Users can then, remove the rear panel from the enclosure to complete the teardown process.
"},{"location":"assets/board_files/","title":"board_files directory","text":"dimensions.png file containing the board's measurements.schematic.pdf file containing the board's schematics.This folder should contain the images for the product documentation
"},{"location":"assets/img/#general-images","title":"General Images","text":"sfe_logo_sm.png - SparkFun flame logo (Cover page for with-pdf extension)sfe_logo_sq.png - SparkFun flame logo (favicon)hookup_guide - Images for the hookup guide pagesThis folder should contain the images for the hookup guide pages
"},{"location":"github/","title":"github directory","text":"This folder should contain the instructions for submitting issues and pull requests for this project
"},{"location":"github/contribute/","title":"Contribute: Make an Augmentation!","text":"Spot an improvement opportunity? Feel free to contribute to our open-source design and documentation.
"},{"location":"github/contribute/#improve-our-documentation","title":"Improve our Documentation","text":"All of this documentation can be modified by you! Please help us make it better.
docs folder of the SparkFun RTK mosaic-X5 repository.All of our designs are open-source! Please help us make it better.
Hardware folder of the SparkFun RTK mosaic-X5 repository.If approved, we will flag these changes for our next board revision. Congrats! \ud83c\udf7b
Info
Even if your suggestion is accepted, these changes may not be immediately available for purchase. We may have to cycle through our current product inventory first.
Let's provide some recognition to the contributors for this project!
"},{"location":"github/file_issue/","title":"Did we make a mistake?","text":"
Spot something wrong? Please let us know.
Need Help?
If you need technical assistance or more information on a product that is not working as you expected, we recommend heading on over to the SparkFun Technical Assistance page for some initial troubleshooting. This Submit Issues page is not where users should seek assistance.
SparkFun Technical Assistance Page
If you can't find what you need there, the SparkFun Forums is a great place to search the product forums and ask questions.
Account Registration Required
For your first visit to our forum, you'll need to create a Forum Account to post questions.
"},{"location":"github/file_issue/#discrepancies-in-the-documentation","title":"Discrepancies in the Documentation","text":"All of our documentation can be modified by you! Please help us make it better.
docs folder of the SparkFun RTK mosaic-X5 repository.If a section of the documentation is incorrect, please open an issue and let us know.
"},{"location":"github/file_issue/#do-you-have-a-suggested-correction","title":"Do you have a suggested correction?","text":"All of our designs are open-source! Please help us make it better.
Hardware folder of the SparkFun RTK mosaic-X5 repository.If part of the design is confusing, please open an issue and let us know.
"},{"location":"github/file_issue/#did-we-forget-to-include-an-important-function-of-the-board","title":"Did we forget to include an important function of the board? \ud83e\udd26","text":"If part of the board's functionality is missing, please open an issue and file a feature request.
Design Considerations
Please keep in mind that we may intentionally exclude certain functions of the board to meet our product design requirements.
If approved, we will flag these changes for our next board revision. Congrats! \ud83c\udf7b
Info
Even if your suggestion is accepted, these changes may not be immediately available for purchase. We may have to cycle through our current product inventory first.
This folder should contain the files used for the webpage customizations of the product documentation
"}]} \ No newline at end of file diff --git a/sitemap.xml b/sitemap.xml new file mode 100644 index 0000000..5cef728 --- /dev/null +++ b/sitemap.xml @@ -0,0 +1,75 @@ + +ESP32 Firmware
+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.
+The /Firmware/Binaries folder contains the firmware binaries.
+You can update or reload the firmware using the SparkFun RTK Firmware Uploader.
+You can of course modify the hardware too, should you want to. The design is completely open-source.
+Note
+The mosaic-T module has numerous capabilities and a multitude of ways to configure and interface with them. Without regurgitating all the information that is documented in Septentrio's user manuals and videos, we have tried to highlight a good majority of the module's aspects.
+With that said, please feel free to file an issue if you feel we have missed something that may benefit other users. (Don't forget to provide us with a link to the documentation and what section the information is located.)
+Tip
+Even if you aren't necessarily interested in it, we highly recommend that users install the RXTools software suite before plugging in their board. For Windows PCs, it also includes the USB driver for the module that enables the Ethernet-over-USB support and virtual COM ports.
Users should install the RXTools software suite on their computer to interact with the mosaic-T module through the USB interface. The software package includes the USB-IP driver1 necessary to recognize the board as an ethernet device on Windows PCs (1).
+bin2asc) will run on older distributions.The minimal hardware requirements (1Hz update3):
+Users can install RxTools software suite by running the installation executable4(1), located in the RxTools\windows directory of the downloaded *.zip file5. During the installation process, users will be notified if a previous version of RxTools is already installed then the previous version will be uninstalled. Next, users will need to provide an installation directory for the RxTools software suite. Users will then select which of the following applications6 are installed:
RxTools_22_1_0_Installer.exe for Windows PCs.Warning
+It is recommended that users NOT install RxControl as root, for security reasons and to avoid installation overwrites of other system settings. To make RxTools available to more than one user, provide a shared installation directory.
Users can install RxTools software suite by running the installation binary4(1), located in the RxTools/linux-i386/ directory of the downloaded *.zip file5. During the installation, users will be prompted for an installation directory. If there are any previous installations of RxControl, please use a different directory to avoid conflicts.
RxTools_22_1_0_Installer.bin for Linux.Once installed, users may need to reconfigure their permission settings:
+RxTools will need rights to access the /dev/ttyS* serial ports.
To access the serial ports, users must be part of the uucp and lock groups (1). This can be configured by editing the /etc/group7 file and adding the username to the lines defining the uucp group and the lock group.
For example, when adding the user jsmith to the uucp group, users would modify the /etc/group file as shown below:
On Linux machine administered centrally on a local network, ask your system administrator to be included in the uucp and lock groups.
RxTools also needs read/write (rw) access(4) to the /dev/ttyS* serial ports.
Users can change the permissions with the chmod8 command:
/dev/ttyS* devices are owned by root and belong to the uucp group with read/write (rw) access. Additionally, the devices are normally locked by writing a file in the /var/lock/ directory, with the same permissions.rw) access to the /dev/ttyS* serial ports./dev/ttyS0 might be port COM1Note
+In order for these changes to take effect, users must update their environment by logging out and back in.
+Be aware that the X-session has to be restarted as well. On most systems, this can be done by pressing the key combination Ctrl + Alt + Backspace
+In order to run the RxTools on a 64-bit Linux operating system, users might have to install the 32-bit version of the C standard library.
glibc.i686 package.ia32-libs package.If users haven't already installed the RxTools software suite on their Windows PC, they will need to install the USB driver1 necessary to recognize and interact with the mosaic-T module through the USB interface.
+A Windows USB driver for the mosaic-T can be installed through two methods:
+Once installed, the driver emulates two virtual serial ports, which can be accessed as standard COM ports to the receiver.
Most terminal emulation programs will not make a distinction between virtual or native COM ports. However, for virtual serial ports, the port settings (i.e. baud rate, etc.) are not relevant and the default configuration is used in the terminal emulation program. However, the physical/native COM ports will have the following default setting:
For users who are having trouble installing the USB driver, we have an archived version (v3.0.29) of the installation file. Users can download version 3.0.2 of the driver, by clicking on the button below.
+On Linux, the standard Linux CDC-ACM driver is suitable for the mosaic-T module.
+With the USB driver installed, the mosaic-T module supports Ethernet-over-USB. The default IP address allocated for the Ethernet-over-USB interface is 192.168.3.1. This IP can be entered in any browser to open a connection to the receiver's Web Interface as shown below.
All the drop-down navigation tabs in the web interface.
+Info
+The default IP address cannot be changed; this feature is only to be used when a single receiver is connected to your computer.
+One of the documentation pages on Septentrio's website, specifies a default IP address of 192.168.20.1 for the web interface. However, that address is for a WiFi enabled product and cannot be used with this product.
Users will need to install a USB driver for the CH340 serial-to-USB chip, in order to communicate with the ESP32 module. The latest USB drivers for the CH340 are available from the manufacturer, on the WCH website:
+For users having trouble installing the CH340 USB driver, check out our video and hookup guide:
+How to Install CH340 Drivers
+In order to configure the firmware settings on the ESP32, users will need to install a serial terminal emulator on their computer.
+For Windows computers, we highly recommend TeraTerm.
+Some Linux operating systems will already have the screen terminal emulator preinstalled.
Need Directions?
+Check out our hookup guide to install your favorite terminal emulator:
+Serial Terminal Basics
+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.
+Without an AtomiChron subscription, the firmware will use the composite GNSS RxClkBias from PVTGeodetic to discipline the TCXO frequency.
+
By default, the Fugro AtomiChron subscription shows as "expired".
+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.
+
The mosaic-T with an active Fugro AtomiChron subscription.
+When connected to the ESP32 CH340 COM port at 115200 baud, pressing any key in the terminal emulator will open the firmware Main Menu:
+
The ESP32 firmware main menu.
+Select option c ("c" followed by "Enter") to configure the firmware:
+
The ESP32 firmware configuration menu.
+To reset all settings to their default values, select "r", "Enter", "y", "Enter"
+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.
+The TCXO frequency control word is saved to NVM once per hour, to allow a quicker startup at the next power-on.
+When TCP Server (IPS1) is enabled, the ESP32 serial console is diverted from the CH340 (USB) interface to the mosaic-T COM3 UART interface. +The serial data is then daisy chained from COM3 to the IPS1 TCP server.
+When TCP Server (IPS1) is enabled, the configuration menu and debug messages can be accessed over TCP / Telnet on the chosen port. The CH340 (USB) interface is then no longer active.
+TCP / Telnet is supported over both Ethernet and the Ethernet-over-USB connection. Only one TCP2Way connection is supported.
+If you are using Tera Term:
+
Tera Term configuration for TCP.
+Select option d ("d" followed by "Enter") to configure the software debug options:
+
The ESP32 firmware debug menu.
+The debug options are what we use at SparkFun to check that the firmware is running correctly. You should not need change any of the options, except perhaps option 8 Print conditions. This option controls the periodic CSV messages seen in the console when the menu is closed. The format can be changed to human-readable text, or the messages can be disabled if desired.
+The format of the Print conditions CSV data is:
+YYYY/MM/DD,HH:MM:SS,Epoch,Lat,Lon,Alt,TimeSys,Error,Fine,PPS,Bias,Source,TCXO,Pk,Ik
+On Linux, the standard Linux CDC-ACM driver is suitable. ↩↩↩
+The system requirements and installation instructions are from the RxTools v22.1.0 user manual. This information may change in later iterations of the software suite. Please refer to the user manual (of the version you are utilizing) for the most accurate information. ↩↩
+Higher data rates will require higher CPU speed and more memory capacity. ↩
+Users will need administrative privileges to install the RxTools software. ↩↩
+Users may need to extract the RxTools installation files from the downloaded, compressed file. ↩↩
+Please see the release notes for the issues and limitations of the RxTools applications. ↩
+Requires c privileges. ↩
+Changing these permissions also requires root privileges. ↩
For the latest USB driver from Septentrio, please install their driver through the RxTools software suite.
+This driver version was archived at the time that the mosaic-T hookup guide was written. Please do not request for the file to be updated. ↩
Need Help?
+If you need technical assistance or more information on a product that is not working as you expected, we recommend heading over to the SparkFun Technical Assistance page for some initial troubleshooting.
+If you can't find what you need there, the SparkFun GNSS Forum is a great place to ask questions.
+Account Registration Required
+If this is your first visit to our forum, you'll need to create a Forum Account to post questions.
+The RTK mosaic-T comes packaged as a complete kit, with all the accessories you'd need to set it up. Inside the box, users will find the GNSS antenna, RTK mosaic-T in its aluminum enclosure, and another box containing additional accessories. Inside, the accessory box, users will find the CAT-6 Ethernet cable, USB cable, SMA to TNC cable, USB power supply, WiFi antenna, and 32GB SD card.
+
Everything that is included in the RTK mosaic-T kit.
+
The contents of the RTK mosaic-T package.
+
Products in the accessories box.
+If you are missing any of these items, please reach out to us in our forum.
+For data logging issues, here are some simple troubleshooting tips:
+FAT32 file system.FAT32 file system also limits the maximum capacity of the card to less than 32GB (i.e. a 256GB SD card will not work).Got a few dead pixels on your OLED display? Please reach out to us in our forum.
+Is the RTK mosaic-T killing your vehicle's battery?
+Make sure that the external power source for the RTK mosaic-T is not directly tied to the vehicle's battery, Always On, or accessory circuits. Otherwise, users will risk killing the battery while the engine is off. We recommend locating the ignition on or switched power circuit, which is only powered when the key is in the On position and the engine is running.
Note
+The On position, is where a key normally rests after the engine is started. However, users can still move the key from the Off position and into the On position without starting the engine. In this case, the alternator is not running and keeping the battery charged.
Modern eco-efficient vehicles may automatically shut down the engine if the vehicle is idling too long. Therefore, cutting off the vehicle's alternator that keeps the battery charged. Luckily, most vehicles with this automatic start/stop technology will monitor the battery's voltage and restart the engine when required. With this in mind, users may want to initially monitor their battery voltage, in case their vehicle isn't "so smart" .
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 page.
+In case users accidentally reprogram or corrupt the flash memory on the ESP32, the /Firmware/Binaries folder contains the firmware binaries.
+You can update or reload the firmware using the SparkFun RTK Firmware Uploader.
+The full firmware source code is available in our GitHub repository
+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.
+Read Before Disassembly!
+ESD Sensitivity
+The mosaic-T module is sensitive to ESD. Use a proper grounding system to make sure that the working surface and the components are at the same electric potential.
+As recommended by the manufacturer, we highly encourage users to take the necessary precautions to avoid damaging their module.
+iFixit Anti-Static Wrist Strap
+TOL-25572
Before disassembling the enclosure, users should disconnect the power and all cables from the RTK mosaic-T. This will prevent users from creating any shorts and will facilitate the teardown process further on.
+The RTK mosaic-T PCB is held in place by the front and rear panels of the enclosure. While users can remove the panels first, we recommend that users disconnect the screw terminal blocks first. Users may find it more difficult to separate the terminal block from the connector later in the disassembly process.
+Remove the Screw Terminal Block First
+Users may find it easiest to remove the screw terminal blocks first; as opposed to later in the teardown process.
+
+
Users can wiggle or use a soft/rigid object to carefully pry the terminal block off. In the picture above, a plastic name tag (~1.5mm thick) is used to carefully pry the terminal block up. We have also found the edge of a PCB ruler works great too.
+Once the terminal blocks have been removed, users can remove the front and rear panels of the enclosure. They are held in place with four, M3, Phillips head screws on the corners of each panel.
+Tip
+We recommend removing the front panel first to prevent the Qwiic cable from being yanked off the OLED display or main PCB. Once the front panel is free, carefully lift the panel and disconnect the Qwiic cable from the top connector on the OLED display.
+At this point, if users have previously disconnected all the cables and the terminal blocks from the back, the RTK mosaic-T PCB should slide out of the enclosure. Users can then, remove the rear panel from the enclosure to complete the teardown process.
+ + + + + + + + + + + + + + + + + + + + + + + + + +