|
|
| (21 intermediate revisions by the same user not shown) |
| Line 1: |
Line 1: |
| =RTK Coordinate via CAN Integration with FMC650= | | == 2026.06.04: Firmware update safety mechanism in FOTA Web == |
| ==Overview==
| |
| Activating '''RTK (Real-Time Kinematic)''' coordinate acquisition enables the FMC650 device to process RTK data from CAN.
| |
| When configured, the RTK module can provide high-precision coordinates using:
| |
| * External RTK receiver via RS232
| |
| * External RTK data via CAN
| |
| * Internal GNSS receiver (GNSs) as fallback (does not has RTK)
| |
| The device automatically chooses the best available source based on configuration and data quality.
| |
|
| |
|
| The following specifications indicate the minimum firmware and configurator version requirement to use RTK coordinate acquisition via CAN on FMC650.
| | We would like to inform you about an upcoming improvement in the FOTA WEB system, designed to enhance the safety and reliability of firmware updates for the devices. |
|
| |
|
| *Platform: FM65
| | {| class="wikitable" |
| * '''Device''': FMC650
| | |+ |
| * '''Firmware version''': 03.01.03.Rev.227
| | ! colspan="3" style="text-align: left; background: white;" |Change description |
| * '''Configurator version''': B.FMX6_R.192
| | |- |
| | | style="text-align: left; background: white;" |Change type |
| | | colspan="2" style="text-align: left; background: white;" | Firmware update safety mechanism |
| | |- |
| | | rowspan="2" style="width: 221px; text-align: left; background: white;" |Detailed description |
| | | colspan="2" style="width: 908px; text-align: left; background: white;" |We are introducing a new safety mechanism in FOTA WEB that prevents firmware updates from being executed on devices running an outdated bootloader version and in this case the firmware update task won’t be possible. This helps eliminate the risk of device malfunction during update procedures. |
| | |- |
| | | style="text-align: left; background: white;" |'''Required bootloader version:'''<br>Minimum required: 65.0E (displayed as 101.14 in FOTA Web).<br>Devices with an older version must first apply a bootloader patch before updating to newer firmware. |
| | | style="text-align: left; background: white;" |'''Recommended update path:'''<br>Any firmware → FM65.Ver.03.01.00.Rev.28 → (if required) FM65.Ver.03.01.00.Rev.34_1666 → FM65.Ver.03.01.01.Rev.15 or newer |
| | |- |
| | | style="text-align: left; background: white;" |Change reasons |
| | | colspan="2" style="text-align: left; background: white;" | Certain newer firmware versions, such as FM65.Ver.03.01.01.Rev.15 and later, exceed 1 MB in size. Devices with older bootloader versions may not support these updates safely. The new mechanism ensures that such updates are only performed when the device meets the required bootloader conditions. |
| | |- |
| | | style="text-align: left; background: white;" |Safety mechanism launch date |
| | | colspan="2" style="text-align: left; background: white;" |Jun 15, 2026 |
| | |- |
| | |} |
|
| |
|
| ==Method of Operation== | | {| class="wikitable" |
| When the RTK option is enabled, the device always tries to use RTK sources first and falls back to internal GNSS if needed.
| | |+ |
| | ! colspan="3" style="text-align: left; background: white;" |Affected products |
| | |- |
| | | style="width: 221px; text-align: left; background: white;" |Model |
| | | style="width: 448px; text-align: left; background: white;" |Affected order codes |
| | | style="width: 448px; text-align: left; background: white;" |Order code changes |
| | |- |
| | | style="text-align: left; background: white;" |FMC650 |
| | | style="text-align: left; background: white;" |All order codes |
| | | style="text-align: left; background: white;" |- |
| | |- |
| | |} |
|
| |
|
| '''Source priority'''
| | {| class="wikitable" |
| #'''RS232 (primary RTK source)'''
| | |+ |
| #:*The device checks whether any COM port (COM1 or COM2) is configured in RTK mode.
| | ! colspan="3" style="text-align: left; background: white;" |Change impact |
| #:*If at least one COM port is configured for RTK and valid data is present, coordinates are taken from RS232.
| | |- |
| #'''CAN RTK (secondary RTK source)'''
| | | style="width: 221px; text-align: left; background: white;" |Risk assessment |
| #:*If RS232 RTK data is not available or is invalid, the device checks the CAN RTK status.
| | | colspan="2" style="width: 908px; text-align: left; background: white;" |The bootloader patch firmware (Rev.34_1666) is an intermediate step and not a full firmware version. Using it as a standalone firmware may lead to limited functionality or unexpected behavior. |
| #:*If valid CAN RTK data is available, coordinates are taken from CAN.
| |
| #:*A timing check is applied if the time difference between received CAN RTK frames is greater than 2 seconds. The device automatically switches to the internal GNSS receiver (GNS) to keep coordinates up to date.
| |
| #'''Internal GNSS (GNS) Fallback'''
| |
| #:*If neither RS232 nor CAN provide valid RTK data, the device uses the internal GNSS receiver (GNS) for coordinates.
| |
| #'''RTK Disabled'''
| |
| #:*If the RTK option is disabled, coordinates are always taken from the internal GNSS receiver.
| |
|
| |
|
| '''RTK data from CAN'''
| | Starting from version 03.01.00.Rev.28, devices automatically block firmware updates if the bootloader is too old. This protection significantly reduces the risk of bricking. |
| | |- |
| | | style="text-align: left; background: white;" |Suggested implementation plan |
| | | colspan="2" style="text-align: left; background: white;" |Only a limited number of devices require a bootloader update. We recommend avoiding unnecessary bootloader updates. To ensure a smooth and safe firmware update process, please follow the recommended update path sequence provided in the Change description. |
| | |- |
| | |} |
|
| |
|
| When CAN is used as the RTK source, the device reads:
| | {| class="wikitable" |
| *'''Latitude'''
| | |+ |
| *'''Longitude'''
| | ! colspan="3" style="width: 1141px; text-align: left; background: white;" |Acknowledgement of PCN receipt |
| *'''Altitude'''
| | |- |
| *'''Ground speed'''
| | | colspan="3" style="text-align: left; background: white;" |If no feedback is received within two weeks after the issue date of this notification - Teltonika may accept that this change has been tacitly accepted and can implement the change as indicated above |
| *'''Course'''
| | |- |
| | | |} |
| These values are taken from standard CAN messages designed for GNSS/RTK data. Exact PGNs and signal layouts depend on whether external RTK/ECD/ISOBUS system is being used.
| |
| | |
| ==Configurator Setup==
| |
| This section describes how to enable RTK as a location source and configure RS232 and CAN usage through the Configurator.
| |
| | |
| '''Enabling RTK as a location source'''
| |
| [[File:Source Location from RTK.png|right]]
| |
| #Open the Configurator and connect to the FMC650 device.
| |
| #Navigate to the System tab.
| |
| #Find the option “Source Location from RTK” in the '''System Settings''' section.
| |
| #Set this option to '''Enable'''.
| |
| | |
| When enabled, the device will use RTK data from RS232/CAN if available, with automatic fallback to internal GNSS.
| |
| | |
| For advanced configuration (e.g. via commands):
| |
| | |
| Source Location from RTK <br>
| |
| '''Parameter ID:''' 55000 <br>
| |
| '''Values:'''
| |
| *'''0''' – Disabled (device uses only internal GNSS)
| |
| *'''1''' – Enabled (device uses RTK sources if available)
| |
| | |
| Configuring RS232 for RTK Use
| |
| If you plan to use an external RTK receiver via RS232:
| |
| #Open the RS232/RS485 tab in the Configurator.
| |
| #For COM1 or COM2 (or both), set the mode to RTK.
| |
| | |
| Relevant parameter IDs:
| |
| *'''COM1 mode''' – Parameter ID 151
| |
| *'''COM2 mode''' – Parameter ID 173
| |
| *'''RTK mode''' – Value 60
| |
| If at least one COM port is configured to RTK mode and valid RTK data is received, the device will use RS232 as the main coordinate source.
| |
| | |
| [[File:RS232 settings - RTK.png|right]]
| |
| | |
| '''Using CAN as the RTK Source'''
| |
| CAN-based RTK is used in the following cases:
| |
| *None of the RS232 COM ports are configured in RTK mode, or
| |
| *RS232 RTK data is not valid or not present.
| |
| When those conditions are met and valid CAN RTK data is received:
| |
| *The device uses CAN as the coordinate source.
| |
| *The device continuously monitors the time between RTK messages.
| |
| *If CAN RTK messages are delayed by more than 2 seconds, the device automatically reverts to internal GNSS to avoid stale coordinates.
| |
| <br>
| |
| RTK data taken from CAN includes:
| |
| *'''Latitude
| |
| *'''Longitude
| |
| *'''Altitude
| |
| *'''Ground speed
| |
| *'''Course
| |
| | |
| Configuration of RTK over CAN (e.g. PGN, source address, bitrate) depends on your external CAN/ISOBUS/RTK infrastructure and should follow that system’sdocumentation.
| |
| | |
| '''ISOBUS Data Visibility'''
| |
| When used in ISOBUS or similar environments:
| |
| [[File:ISOBUS - RTK.png]]
| |
| *RTK-related data from CAN is visible in the ISOBUS section of the Configurator.
| |
| | |
| *This allows you to verify that RTK data is being received and interpreted correctly by the device.
| |
| | |
| ==Active Location Source Monitoring==
| |
| To understand which source is currently being used for position data, you can check the '''Location Source''' parameter.
| |
| | |
| '''Location Source Values'''
| |
| | |
| In the Configurator:
| |
| #Navigate to the '''I/O''' tab (or equivalent I/O monitoring view).
| |
| #Find the parameter '''Location Source'''.
| |
| [[File:Location source.png]]
| |
| | |
| Possible values:
| |
| | |
| *'''0 – GNS'''
| |
| Location is taken from the internal GNSS receiver. This is the default when RTK is disabled or when no valid RTK data is available.
| |
| | |
| *'''1 – RS232'''
| |
| Location is taken from the RTK receiver connected via RS232.
| |
| | |
| *'''2 – CAN'''
| |
| Location is taken from RTK data arriving over CAN.
| |
| | |
| *'''3 – Err'''
| |
| Location is taken from the internal GNSS receiver, but this status indicates that RTK data from RS232 and/or CAN is invalid or unavailable. This helps distinguish normal GNSS use from “RTK expected but not available” situations.
| |
| | |
| This parameter is used for diagnostics and for confirming that your device is using the intended RTK source.
| |
| | |
| ==NMEA Fix Type Monitoring (RS232 RTK Only)==
| |
| When RTK coordinates are received via RS232, you can also monitor the NMEA Fix Type to understand the quality of the GNSS/RTK fix.
| |
| | |
| '''Configurator Steps'''
| |
| #Open the Configurator.
| |
| #Go to the I/O tab (or relevant section).
| |
| #Locate the parameter '''NMEA Fix Type'''.
| |
| | |
| [[File:NMEA Fix Type.png]]
| |
| | |
| '''Note:''' This parameter is '''only available when coordinate data is received via RS232 RTK'''.
| |
| | |
| '''NMEA Fix Type Values'''
| |
| | |
| *'''NotValid''' - No valid GNSS fix is available.<br>
| |
| | |
| *'''GPS''' - Standard GPS fix using satellites only.<br>
| |
| | |
| *'''DGNSS''' - Differential GNSS fix (e.g. DGNSS, SBAS, etc.).<br>
| |
| | |
| *'''NotApplicable''' - Fix quality is not applicable in the current context. <br>
| |
| | |
| *'''RTK_Fixed''' - RTK Fixed; high-precision RTK fix (including xFill if supported by the receiver).<br>
| |
| | |
| *'''RTK_Float''' - RTK Float; typically, a converging RTK solution or similar intermediate status.<br>
| |
| | |
| *'''INS_DR''' - INS Dead Reckoning; position estimated by inertial sensors and previous GNSS/RTK data.<br>
| |
| | |
| This information is beneficial for:
| |
| *Verifying that the external RTK receiver is working correctly.
| |
| *Assessing overall RTK performance and stability.
| |
| *Logging and diagnostics in advanced deployments.
| |
| | |
| ==Parameter IDs and AVL IDs==
| |
| | |
| Below is a list of AVL IDs and Configurator IDs assigned to a specific item.
| |
| | |
| <table class="nd-othertables_2" style="width:50%; border-collapse: collapse;">
| |
| | |
| <tr>
| |
| <th style="width:8%; vertical-align: middle; text-align: left;">Name</th>
| |
| <th style="width:15%; vertical-align: middle; text-align: center;">Parameter ID</th>
| |
| <th style="width:5%; vertical-align: middle; text-align: center;">AVL ID</th>
| |
| </tr>
| |
| | |
| <tr>
| |
| <td style="vertical-align: middle; text-align: center;">RTK Longitude</td>
| |
| <td style="vertical-align: middle; text-align: center;">151790</td>
| |
| <td style="vertical-align: middle; text-align: center;">14145</td>
| |
| </tr>
| |
| | |
| <tr>
| |
| <td style="vertical-align: middle; text-align: center;">RTK Latitude</td>
| |
| <td style="vertical-align: middle; text-align: center;">151800</td>
| |
| <td style="vertical-align: middle; text-align: center;">14146</td>
| |
| </tr>
| |
| | |
| <tr>
| |
| <td style="vertical-align: middle; text-align: center;">RTK Altitude</td>
| |
| <td style="vertical-align: middle; text-align: center;">151810</td>
| |
| <td style="vertical-align: middle; text-align: center;">14147</td>
| |
| </tr>
| |
| | |
| <tr>
| |
| <td style="vertical-align: middle; text-align: center;">RTK Speed</td>
| |
| <td style="vertical-align: middle; text-align: center;">151820</td>
| |
| <td style="vertical-align: middle; text-align: center;">14148</td>
| |
| </tr>
| |
| | |
| <tr>
| |
| <td style="vertical-align: middle; text-align: center;">RTK Angle</td>
| |
| <td style="vertical-align: middle; text-align: center;">151830</td>
| |
| <td style="vertical-align: middle; text-align: center;">14149</td>
| |
| </tr>
| |
| | |
| <tr>
| |
| <td style="vertical-align: middle; text-align: center;">Source Location from RTK</td>
| |
| <td style="vertical-align: middle; text-align: center;">55000</td>
| |
| <td style="vertical-align: middle; text-align: center;">-</td>
| |
| </tr>
| |
| | |
| <tr>
| |
| <td style="vertical-align: middle; text-align: center;">Source Location from RTK</td>
| |
| <td style="vertical-align: middle; text-align: center;">55000</td>
| |
| <td style="vertical-align: middle; text-align: center;">-</td>
| |
| </tr>
| |
| | |
| <tr>
| |
| <td style="vertical-align: middle; text-align: center;">Location Source</td>
| |
| <td style="vertical-align: middle; text-align: center;">53050</td>
| |
| <td style="vertical-align: middle; text-align: center;">10919</td>
| |
| </tr>
| |
| | |
| <tr>
| |
| <td style="vertical-align: middle; text-align: center;">NMEA Fix Type</td>
| |
| <td style="vertical-align: middle; text-align: center;">53060</td>
| |
| <td style="vertical-align: middle; text-align: center;">10920</td>
| |
| </tr>
| |
