[Home] [Cat] [About] [Syntax] [Scraps]

[millerjs.org]

Differences

This shows you the differences between two versions of the page.

--- here_rtk_kit [2025/11/25 14:12] – [GNSS] millerjs
+++ here_rtk_kit [2025/11/28 05:45] (current) – admin
@@ Line 3: / Line 3: @@
   * https://docs.px4.io/v1.11/en/gps_compass/rtk_gps_hex_hereplus
+  * https://sccdn.sechitech.com/muginuav/uploads/2025/06/Herev2-User-Manual-1.pdf
 ===== Base =====
@@ Line 12: / Line 15: @@
 ===== Rover =====
-The rover hardware includes a GNSS + antenna and six I2C devices. It has an eight pin connector which is externally accessible by way of a cable passthrough in the case which carries the UART and I2C to the flight controller.
+The rover hardware includes a GNSS + antenna and six I2C devices. It has an eight pin JST-GH connector which is externally accessible by way of a cable passthrough in the case which carries the UART and I2C to the flight controller. It also has a four pin connector (also JST-GH) for USB, though only data is carried on this connector, power must be applied via the larger connector.
+The Here+ v1 rover differs significantly from the 2/3/4 in that the sensors are connected to the I2C bus directly, and the module does not support the CAN protocol. In the 2/3/4, the sensors are connected to an STM32 which can either emulate I2C devices, or provide the data on a CAN bus. For the purposes of tinkering/hacking, having the hardware exposed directly via their own I2C interfaces has some advantages.
+=== 8 Pin JST-GH Pinout ===
+^ Pin  ^ Color   ^ Use            ^ Notes                   ^
+| 1    | Purple  | Vcc            | 5v or 3v3               |
+| 2    | Blue    | GNSS Rx        |                         |
+| 3    | Green   | GNSS Tx        |                         |
+| 4    | Yellow  | I2C SCL        |                         |
+| 5    | Orange  | I2C SDA        |                         |
+| 6    | Red     | Safety Button  | untested                |
+| 7    | Brown   | Button LED     | Pull low to illuminate  |
+| 8    | Black   | Ground         |                         |
 ==== GNSS ====
 The rover's GNSS is a U-Blox NEO-M8P-0. It is accessible via UART1 on the eight pin connector, and USB on the four pin connector (it uses the same as the base unit.) Note: the USB connector **does not** supply power to the rover or the GNSS module, voltage must be separately applied to pin 1 of the eight pin connector.
 The GNSS antenna is a [[https://www.taoglas.com/product/cggbp-25-4-a-02-gpsglonassbeidou-patch-antenna-25mm-2/|Taoglas CGGBP.25.4.A.02]] 1" ceramic patch.
+==== I2C devices ====
+^ Device Type   ^ Part                                                                                                    ^ Address  ^ Misc  ^
+| Magnetometer  | [[https://www.digikey.com/htmldatasheets/production/2044105/0/0/1/ak09916.html|AKM AK09916]]            | 0x0C     |       |
+| Magnetometer  | [[https://www.st.com/en/mems-and-sensors/lis3mdl.html|ST LIS3MDL]]                                      | 0x1C     |       |
+| Magnetometer  | [[https://mm.digikey.com/Volume0/opasdata/d220001/medias/docus/411/HMC5983_DS.pdf|Honeywell HMC5983]]   | 0x1E     |       |
+| LED Driver    | [[https://media.digikey.com/pdf/Data%20Sheets/Toshiba%20PDFs/TCA62724FMG(O,S,EL.pdf|Toshiba TCA62764]]  | 0x55     |       |
+| IMU           | [[https://invensense.tdk.com/wp-content/uploads/2015/02/PS-MPU-9250A-01-v1.1.pdf|TDK MPU-9250]]         | 0x71     |       |
+| Barometer     | [[https://www.te.com/usa-en/product-MS561101BA03-50.datasheet.pdf|TE MS5611]]                           | 0x77     |       |
+==== Sample Code ====
+=== TCA62724 ====
+Solid purple, lowest brightness (still quite bright!)
+<file c TCA62724_Purple.ino>
+#include <Wire.h>
+#define TCA62724_ADDR   0x55
+#define SDA_PIN         10
+#define SCL_PIN         9
+void setup() {
+    Wire.begin(SDA_PIN, SCL_PIN);
+    delay(10);
+    // Enable the LED driver
+    Wire.beginTransmission(TCA62724_ADDR);
+    Wire.write(0x84);  // Enable register
+    Wire.write(0x03);  // Turn on
+    Wire.endTransmission();
+    // Set Purple: Red=1, Green=0, Blue=1 (lowest brightness)
+    Wire.beginTransmission(TCA62724_ADDR);
+    Wire.write(0x81);  // Blue register
+    Wire.write(1);     // Blue = 1
+    Wire.write(0x82);  // Green register
+    Wire.write(0);     // Green = 0
+    Wire.write(0x83);  // Red register
+    Wire.write(1);     // Red = 1
+    Wire.endTransmission();
+}
+void loop() {
+    // Nothing - LED stays purple
+}
+</file>

[Home] [Cat] [About] [Syntax] [Scraps] [millerjs.org]

Differences

[Home] [Cat] [About] [Syntax] [Scraps]

[millerjs.org]