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| swift_nav_duro [2026/03/17 14:47] – [Notes and Curiosities] admin | swift_nav_duro [2026/03/17 15:10] (current) – [Swift Navigation / Carnegie Robotics Duro] admin |
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| ====== Swift Navigation / Carnegie Robotics Duro ====== | ====== Swift Navigation / Carnegie Robotics Duro ====== |
| Initially released by Swift Navigation in early 2020, then was bought by Carnegie Robotics in fall 2024, | Developed jointly by Swift Navigation and Carnegie Robotics and released in 2018, then was bought by Carnegie Robotics in fall 2024, |
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| <blockquote> | <blockquote> |
| Provided in no particular order, the below are bits and pieces I have discovered when researching or using the Duro/Piksi Multi, that I may want to refer back to in the future, or that others may find interesting. | Provided in no particular order, the below are bits and pieces I have discovered when researching or using the Duro/Piksi Multi, that I may want to refer back to in the future, or that others may find interesting. |
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| * The Duro has a microSD card and micro USB port accessible externally, via a door on the rear. This is mentioned very little. The Piksi Multi evaluation board has both as well as a USB host port, and they are connected directly to the Piksi Multi. The micro USB port is connected to USB0 on the Zynq, and acts as a "common device class" serial port and can be configured for I/O the same as the serial ports. USB1, the host port, is not available on the Duro as far as I can see, and is intended for flash drives for logging or firmware updates. An [[https://web.archive.org/web/20200811154010/https://support.swiftnav.com/support/solutions/articles/44001850760-duro-specification-and-user-manual|August 2020 capture]] of the Duro specification page states "Duro contains 32 GB on-board storage for data logging which is not yet supported but planned to be released with a future firmware release." but it's not clear if this ever happened. The latest revision of the Duro User Manual (4.4) which has Carnegie Robotics branding, clearly states "Warranty is voided if Duro back access panel is opened." | * Based on photos from ebay and mentions in documentation, there seem to be quite a few model numbers and revisions of the Duro. 00862-04, 00862-03, 00862-002, 00862-01, 00728-01, 00522-01 (Duro Inertials may be 00759-01 and 00759-02, but I have seen them marked 00862-02 as well). |
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| | * The Duro has a microSD card and micro USB port accessible externally, via a cover plate on the rear. This is mentioned very little in documentation. The Piksi Multi evaluation board has both as well as a USB host port, and they are connected directly to the Piksi Multi. The micro USB port is connected to USB0 on the Zynq, and acts as a "common device class" serial port and can be configured for I/O the same as the serial ports. USB1, the host port, is not available on the Duro as far as I can see, and is intended for flash drives for logging or firmware updates. An [[https://web.archive.org/web/20200811154010/https://support.swiftnav.com/support/solutions/articles/44001850760-duro-specification-and-user-manual|August 2020 capture]] of the Duro specification page states "Duro contains 32 GB on-board storage for data logging which is not yet supported but planned to be released with a future firmware release." but it's not clear if this ever happened. The latest revision of the Duro User Manual (4.4) which has Carnegie Robotics branding, clearly states "Warranty is voided if Duro back access panel is opened." |
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| * A number of "typical" GNSS features were on the road map, but never implemented - hot starts, warm starts, and RTC backup with an external battery or supercap. Essentially, every boot is a cold-start, though I suspect it saves almanacs and ephmerides and will use them if they are valid, after a restart. {{ :swiftnav:duro:cell_duro.png?direct&200|}} | * A number of "typical" GNSS features were on the road map, but never implemented - hot starts, warm starts, and RTC backup with an external battery or supercap. Essentially, every boot is a cold-start, though I suspect it saves almanacs and ephmerides and will use them if they are valid, after a restart. {{ :swiftnav:duro:cell_duro.png?direct&200|}} |
