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here_rtk_kit [2025/11/25 14:31] – [GNSS] millerjshere_rtk_kit [2025/11/28 05:45] (current) – admin
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   * https://docs.px4.io/v1.11/en/gps_compass/rtk_gps_hex_hereplus   * 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 ===== ===== Base =====
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 ===== Rover ===== ===== 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 ==== ==== 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 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.
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 ==== I2C devices ==== ==== I2C devices ====
-^ Device Type   ^ Part              ^ Address  ^ Misc  ^ +^ Device Type   ^ Part                                                                                                    ^ Address  ^ Misc  ^ 
-| Magnetometer  | AK09916           | 0x0C     |       | +| Magnetometer  | [[https://www.digikey.com/htmldatasheets/production/2044105/0/0/1/ak09916.html|AKM AK09916]]            | 0x0C     |       | 
-| Magnetometer  | LIS3MDL           | 0x1C     |       | +| Magnetometer  | [[https://www.st.com/en/mems-and-sensors/lis3mdl.html|ST LIS3MDL]]                                      | 0x1C     |       | 
-| Magnetometer  | HMC5883L          | 0x1E     |       | +| Magnetometer  | [[https://mm.digikey.com/Volume0/opasdata/d220001/medias/docus/411/HMC5983_DS.pdf|Honeywell HMC5983]]   | 0x1E     |       | 
-| LED Driver    | Toshiba TCA62764  | 0x55     |       | +| LED Driver    | [[https://media.digikey.com/pdf/Data%20Sheets/Toshiba%20PDFs/TCA62724FMG(O,S,EL.pdf|Toshiba TCA62764]]  | 0x55     |       | 
-| IMU           | MPU-9250          | 0x71     |       | +| IMU           | [[https://invensense.tdk.com/wp-content/uploads/2015/02/PS-MPU-9250A-01-v1.1.pdf|TDK MPU-9250]]         | 0x71     |       | 
-| Barometer     | MS5611            | 0x77     |       |+| 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>
here_rtk_kit.1764081075.txt.gz · Last modified: by millerjs
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