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‎docs/firmware_update.md‎

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@@ -122,6 +122,88 @@ Where */dev/ttyUSB0* is replaced with the port that the RTK product enumerated a
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Upon completion, your RTK device will reset and power down.
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## Updating u-blox Firmware
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The following products contain the following u-blox receviers:
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* RTK Surveyor: ZED-F9P
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* RTK Express: ZED-F9P
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* RTK Express Plus: : ZED-F9R
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* RTK Facet: ZED-F9P
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* RTK Facet L-Band: ZED-F9P and NEO-D9S
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The firmware loaded onto the ZED-F9P, ZED-F9R, and NEO-D9S receivers is written by u-blox and can vary depending on manufacture date. The RTK Firmware (that runs on the ESP32) is designed to flexibly work with any u-blox firmware. Upgrading the ZED-F9x/NEO-D9S is a good thing to consider but is not crucial to the use of the RTK products.
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Not sure what firmware is loaded onto your RTK product? Open the [System Status Menu](https://sparkfun.github.io/SparkFun_RTK_Firmware/menu_system_status/) to display the module's current firmware version.
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The firmware on u-blox devices can be updated using a [Windows based GUI](https://sparkfun.github.io/SparkFun_RTK_Firmware/firmware_update/#updating-using-windows-gui) or [u-center](https://sparkfun.github.io/SparkFun_RTK_Firmware/firmware_update/#updating-using-u-center). A CLI method is also possible using the ubxfwupdate.exe tool provided with u-center. Additionally, u-blox offers the source for the ubxfwupdate tool that is written in C. It is currently released only under an NDA so contact your local u-blox Field Applications Engineer if you need a different method.
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### Updating Using Windows GUI
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![SparkFun u-blox firmware update tool](https://raw.githubusercontent.com/sparkfun/SparkFun_RTK_Firmware/main/docs/img/SparkFun RTK Facet L-Band u-blox Firmware Update GUI.png)
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*SparkFun RTK u-blox Firmware Update Tool*
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The [SparkFun RTK u-blox Firmware Update Tool](https://github.com/sparkfun/SparkFun_RTK_Firmware/tree/main/u-blox_Update_GUI) is a simple Windows GUI and python script that runs the ubxfwupdate.exe tool. This allows users to directly update module firmware without the need for u-center. Addtionally, this tool queries the module to verify that the firmware type matches the module. Because the RTK Facet L-Band contains two u-blox modules that both appear as identical serial ports, it can be difficult and perilous to know which port to load firmware. This tool prevents ZED-F9P firmware from being accidentally loaded onto a NEO-D9S receiver and vice versa.
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The SparkFun RTK u-blox Firmware Update Tool will only run on Windows as it relies upon u-blox's ubxfwupdate.exe. The full, integrated executable for Windows is available [here](https://github.com/sparkfun/SparkFun_RTK_Firmware/raw/main/u-blox_Update_GUI/Windows_exe/RTK_u-blox_Update_GUI.exe).
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* Attach the RTK device's USB port to your computer using a USB cable
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* Turn the RTK device on
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* Open Device Manager to confirm which COM port the device is operating on
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![Device Manager showing USB Serial port on COM14](https://raw.githubusercontent.com/sparkfun/SparkFun_RTK_Firmware/main/u-blox_Update_GUI/SparkFun_RTK_u-blox_Updater_COM_Port.jpg)
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*Device Manager showing USB Serial port on COM14*
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* Get the latest binary firmware file from the [ZED Firmware](https://github.com/sparkfun/SparkFun_RTK_Firmware/tree/main/Binaries/ZED%20Firmware), [NEO Firmware](https://github.com/sparkfun/SparkFun_RTK_Firmware/tree/main/Binaries/NEO%20Firmware) folder, or the [u-blox](https://www.u-blox.com/) website
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* Run *RTK_u-blox_Update_GUI.exe* (it takes a few seconds to start)
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* Click the Firmware File *Browse* and select the binary file for the update
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* Select the COM port previously seen in the Device Manager
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* Click *Update Firmware*
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Once complete, the u-blox module will restart.
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### Updating Using u-center
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If you're familiar with u-center a tutorial with step-by-step instructions for locating the firmware version as well as changing the firmware can be found in [How to Upgrade Firmware of a u-blox Receiver](https://learn.sparkfun.com/tutorials/how-to-upgrade-firmware-of-a-u-blox-gnss-receiver/all).
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### ZED-F9P Firmware Changes
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This module is used in the Surveyor, Express, and Facet. It is capable of both Rover *and* base modes.
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Most of these binaries can be found in the [ZED Firmware/ZED-F9P](https://github.com/sparkfun/SparkFun_RTK_Firmware/tree/main/Binaries/ZED%20Firmware/ZED-F9P) folder.
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All field testing and device specific performance parameters were obtained with ZED-F9P v1.30.
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* v1.12 has the benefit of working with SBAS and an operational RTK status signal (the LED illuminates correctly). See [release notes](https://content.u-blox.com/sites/default/files/ZED-F9P-FW100-HPG112_RN_%28UBX-19026698%29.pdf).
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* v1.13 has a few RTK and receiver performance improvements but introduces a bug that causes the RTK Status LED to fail when SBAS is enabled. See [release notes](https://content.u-blox.com/sites/default/files/ZED-F9P-FW100-HPG113_RN_%28UBX-20019211%29.pdf).
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* v1.30 has a few RTK and receiver performance improvements, I<sup>2</sup>C communication improvements, and most importantly support for SPARTN PMP packets. See [release notes](https://www.u-blox.com/sites/default/files/ZED-F9P-FW100-HPG130_RN_UBX-21047459.pdf).
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* v1.32 has a few SPARTN protocol specific improvements. See [release notes](https://www.u-blox.com/sites/default/files/documents/ZED-F9P-FW100-HPG132_RN_UBX-22004887.pdf). This firmware is required for use with the NEO-D9S and the decryption of PMP messages.
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### ZED-F9R Firmware Changes
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This module is used in the Express Plus. It contains an internal IMU and additional algorithms to support high precision location fixes using dead reckoning. The ZED-F9R is not capable of operating in base mode.
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Most of these binaries can be found in the [ZED Firmware/ZED-F9R](https://github.com/sparkfun/SparkFun_RTK_Firmware/tree/main/Binaries/ZED%20Firmware/ZED-F9R) folder.
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* v1.00 Initial release.
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* v1.21 SPARTN support as well as adding E-scooter and robotic lawnmower dynamic models. See [release notes](https://www.u-blox.com/sites/default/files/ZED-F9R-02B_FW1.00HPS1.21_RN_UBX-21035491_1.3.pdf).
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### NEO-D9S Firmware Changes
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This module is used in the Facet L-Band to receive encrypted PMP messages over ~1.55GHz broadcast via a geosynchronous Inmarsat.
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This binary file can be found in the [NEO Firmware](https://github.com/sparkfun/SparkFun_RTK_Firmware/tree/main/Binaries/NEO%20Firmware) folder.
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* v1.04 Initial release.
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As of writing, no addtional releases of the NEO-D9S firmware have been made.
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## Compiling Source
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### Windows
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40. cd ~/SparkFun/RTK/
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41. cp Firmware/app3M_fat9M_16MB.csv ~/.arduino15/packages/esp32/hardware/esp32/2.0.3/tools/partitions/app3M_fat9M_16MB.csv
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## Updating u-blox Firmware
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The following products contain the following u-blox receviers:
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* RTK Surveyor: ZED-F9P
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* RTK Express: ZED-F9P
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* RTK Express Plus: : ZED-F9R
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* RTK Facet: ZED-F9P
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* RTK Facet L-Band: ZED-F9P and NEO-D9S
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The firmware loaded onto the ZED-F9P, ZED-F9R, and NEO-D9S receivers is written by u-blox and can vary depending on manufacture date. The RTK Firmware (that runs on the ESP32) is designed to flexibly work with any u-blox firmware. Upgrading the ZED-F9x/NEO-D9S is a good thing to consider but is not crucial to the use of the RTK products.
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Not sure what firmware is loaded onto your RTK product? Open the [System Status Menu](https://sparkfun.github.io/SparkFun_RTK_Firmware/menu_system_status/) to display the module's current firmware version.
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The firmware on u-blox devices can be updated using a [Windows based GUI](https://sparkfun.github.io/SparkFun_RTK_Firmware/firmware_update/#updating-using-windows-gui) or [u-center](https://sparkfun.github.io/SparkFun_RTK_Firmware/firmware_update/#updating-using-u-center). A CLI method is also possible using the ubxfwupdate.exe tool provided with u-center. Additionally, u-blox offers the source for the ubxfwupdate tool that is written in C. It is currently released only under an NDA so contact your local u-blox Field Applications Engineer if you need a different method.
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### Updating Using Windows GUI
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![SparkFun u-blox firmware update tool](https://raw.githubusercontent.com/sparkfun/SparkFun_RTK_Firmware/main/docs/img/SparkFun RTK Facet L-Band u-blox Firmware Update GUI.png)
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*SparkFun RTK u-blox Firmware Update Tool*
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The [SparkFun RTK u-blox Firmware Update Tool](https://github.com/sparkfun/SparkFun_RTK_Firmware/tree/main/u-blox_Update_GUI) is a simple Windows GUI and python script that runs the ubxfwupdate.exe tool. This allows users to directly update module firmware without the need for u-center. Addtionally, this tool queries the module to verify that the firmware type matches the module. Because the RTK Facet L-Band contains two u-blox modules that both appear as identical serial ports, it can be difficult and perilous to know which port to load firmware. This tool prevents ZED-F9P firmware from being accidentally loaded onto a NEO-D9S receiver and vice versa.
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The SparkFun RTK u-blox Firmware Update Tool will only run on Windows as it relies upon u-blox's ubxfwupdate.exe. The full, integrated executable for Windows is available [here](https://github.com/sparkfun/SparkFun_RTK_Firmware/raw/main/u-blox_Update_GUI/Windows_exe/RTK_u-blox_Update_GUI.exe).
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* Attach the RTK device's USB port to your computer using a USB cable
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* Turn the RTK device on
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* Open Device Manager to confirm which COM port the device is operating on
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![Device Manager showing USB Serial port on COM14](https://raw.githubusercontent.com/sparkfun/SparkFun_RTK_Firmware/main/u-blox_Update_GUI/SparkFun_RTK_u-blox_Updater_COM_Port.jpg)
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*Device Manager showing USB Serial port on COM14*
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* Get the latest binary firmware file from the [ZED Firmware](https://github.com/sparkfun/SparkFun_RTK_Firmware/tree/main/Binaries/ZED%20Firmware), [NEO Firmware](https://github.com/sparkfun/SparkFun_RTK_Firmware/tree/main/Binaries/NEO%20Firmware) folder, or the [u-blox](https://www.u-blox.com/) website
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* Run *RTK_u-blox_Update_GUI.exe* (it takes a few seconds to start)
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* Click the Firmware File *Browse* and select the binary file for the update
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* Select the COM port previously seen in the Device Manager
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* Click *Update Firmware*
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Once complete, the u-blox module will restart.
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### Updating Using u-center
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If you're familiar with u-center a tutorial with step-by-step instructions for locating the firmware version as well as changing the firmware can be found in [How to Upgrade Firmware of a u-blox Receiver](https://learn.sparkfun.com/tutorials/how-to-upgrade-firmware-of-a-u-blox-gnss-receiver/all).
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### ZED-F9P Firmware Changes
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This module is used in the Surveyor, Express, and Facet. It is capable of both Rover *and* base modes.
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Most of these binaries can be found in the [ZED Firmware/ZED-F9P](https://github.com/sparkfun/SparkFun_RTK_Firmware/tree/main/Binaries/ZED%20Firmware/ZED-F9P) folder.
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All field testing and device specific performance parameters were obtained with ZED-F9P v1.30.
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* v1.12 has the benefit of working with SBAS and an operational RTK status signal (the LED illuminates correctly). See [release notes](https://content.u-blox.com/sites/default/files/ZED-F9P-FW100-HPG112_RN_%28UBX-19026698%29.pdf).
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* v1.13 has a few RTK and receiver performance improvements but introduces a bug that causes the RTK Status LED to fail when SBAS is enabled. See [release notes](https://content.u-blox.com/sites/default/files/ZED-F9P-FW100-HPG113_RN_%28UBX-20019211%29.pdf).
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* v1.30 has a few RTK and receiver performance improvements, I<sup>2</sup>C communication improvements, and most importantly support for SPARTN PMP packets. See [release notes](https://www.u-blox.com/sites/default/files/ZED-F9P-FW100-HPG130_RN_UBX-21047459.pdf).
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* v1.32 has a few SPARTN protocol specific improvements. See [release notes](https://www.u-blox.com/sites/default/files/documents/ZED-F9P-FW100-HPG132_RN_UBX-22004887.pdf). This firmware is required for use with the NEO-D9S and the decryption of PMP messages.
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### ZED-F9R Firmware Changes
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This module is used in the Express Plus. It contains an internal IMU and additional algorithms to support high precision location fixes using dead reckoning. The ZED-F9R is not capable of operating in base mode.
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Most of these binaries can be found in the [ZED Firmware/ZED-F9R](https://github.com/sparkfun/SparkFun_RTK_Firmware/tree/main/Binaries/ZED%20Firmware/ZED-F9R) folder.
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* v1.00 Initial release.
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* v1.21 SPARTN support as well as adding E-scooter and robotic lawnmower dynamic models. See [release notes](https://www.u-blox.com/sites/default/files/ZED-F9R-02B_FW1.00HPS1.21_RN_UBX-21035491_1.3.pdf).
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### NEO-D9S Firmware Changes
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This module is used in the Facet L-Band to receive encrypted PMP messages over ~1.55GHz broadcast via a geosynchronous Inmarsat.
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This binary file can be found in the [NEO Firmware](https://github.com/sparkfun/SparkFun_RTK_Firmware/tree/main/Binaries/NEO%20Firmware) folder.
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* v1.04 Initial release.
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As of writing, no addtional releases of the NEO-D9S firmware have been made.

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