> For the complete documentation index, see [llms.txt](https://docs.arkelectron.com/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://docs.arkelectron.com/products/gps/ark-teseo-gps/hardware.md). # Hardware Reference ## Specifications | Specification | Value | | -------------------- | ---------------------------------------------------------------------------------------------------------------------------- | | GNSS receiver | [ST Teseo-LIV4F](https://www.st.com/en/positioning/teseo-liv4f.html), L1/L5 | | Constellations | GPS, GLONASS, Galileo, BeiDou, QZSS, IRNSS; four at a time, plus SBAS | | Tracking sensitivity | −162 dBm | | Position accuracy | Submeter | | Magnetometer | [ST IIS2MDC](https://www.st.com/en/mems-and-sensors/iis2mdc.html) | | Barometer | [Bosch BMP390](https://www.bosch-sensortec.com/products/environmental-sensors/pressure-sensors/pressure-sensors-bmp390.html) | | IMU | [InvenSense ICM-42688-P](https://invensense.tdk.com/products/motion-tracking/6-axis/icm-42688-p/), 6-axis | | MCU | STM32F412VGH6 | | Buzzer | Yes | | Power | 5 V, 137 mA | | Weight | 16 g | ## Pinout ### CAN (×2) — 4-pin JST-GH | Pin | Signal | Voltage | | --- | ------ | ------- | | 1 | 5V | 5.0 V | | 2 | CAN\_P | 5.0 V | | 3 | CAN\_N | 5.0 V | | 4 | GND | GND | ### I2C and Timepulse — 5-pin JST-GH | Pin | Signal | Voltage | | --- | ----------------- | ------- | | 1 | 5.0V out (500 mA) | 5.0 V | | 2 | I2C2\_SCL | 3.3 V | | 3 | I2C2\_SDA | 3.3 V | | 4 | TIMEPULSE | 3.3 V | | 5 | GND | GND | The firmware does not use I2C2. TIMEPULSE outputs the receiver's PPS, which the flight controller can use to timestamp PVT solutions. ### Debug — 6-pin JST-SH | Pin | Signal | Voltage | | --- | ---------- | ------- | | 1 | 3.3V | 3.3 V | | 2 | USART2\_TX | 3.3 V | | 3 | USART2\_RX | 3.3 V | | 4 | FMU\_SWDIO | 3.3 V | | 5 | FMU\_SWCLK | 3.3 V | | 6 | GND | GND | ## LEDs The green LED on the left edge flashes once per second with the receiver's time pulse (PPS). The status LED (red, green and blue in a row) is on the right edge and is driven by the node firmware. | Status LED | Meaning | | ---------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | | Green, fast blink (10 Hz) | Node firmware running. It does not change with CAN traffic. | | Green, slow blink (1 Hz) | Bootloader listening for CAN traffic | | Blue, blinking (2 Hz) | Bootloader waiting for a node ID from the flight controller | | Blue and green, blinking (3 Hz) | Bootloader waiting up to 3 s for the flight controller to start a firmware update | | Red, green and blue together (3 Hz) | Firmware update in progress | | Red, blinking | Firmware update error. 1 Hz: the flight controller returned a file error. 2 Hz: the flight controller stopped responding. 4 Hz: the image failed its CRC check. A failed update restarts the node after 20 s. | | Blue, blinking (2 Hz) after the firmware has started | Updating the Teseo receiver firmware | | Red, blinking (1 Hz) after the firmware has started | Teseo receiver firmware update failed | Without valid firmware the node stays in the bootloader until the flight controller flashes it. ## 3D Model and Case | File | Contents | | ------------------------------------------------------------------------------------------------------------------------------------------ | -------------- | | [ARK\_TESEO\_GPS\_Rev\_2\_0.step](https://github.com/ARK-Electronics/ark-hardware/raw/main/ARK_TESEO_GPS/model/ARK_TESEO_GPS_Rev_2_0.step) | Board, rev 2.0 | | [Teseo\_Top\_Case.stl](https://github.com/ARK-Electronics/ark-hardware/raw/main/ARK_TESEO_GPS/case/Teseo_Top_Case.stl) | Case top | | [Teseo\_Bottom\_Case.stl](https://github.com/ARK-Electronics/ark-hardware/raw/main/ARK_TESEO_GPS/case/Teseo_Bottom_Case.stl) | Case bottom | All files: [ARK\_TESEO\_GPS in ark-hardware](https://github.com/ARK-Electronics/ark-hardware/tree/main/ARK_TESEO_GPS) --- # Agent Instructions This documentation is published with GitBook. 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