Here2 GNSS Module Compass I2C Address

Here GPS
1

Hi All,
I connected I2C bus of Here2 GNSS Module to Raspberry Pi I2C bus, to log the compass data. From the OEM datasheet the Compass should be ICM20948. But I was getting I/O Error while running the code.
Then I checked I2C devices and surprisingly the result was “0x0c” which is nothing but AK09916 Compass. Is this the correct compass? Or is there any method to change compass to ICM20948?
I checked with Here GNSS module, and the I2C device address is correct, “0x69”.
I opened both Here & Here2 modules and checked the Mag IC, which is nothing but the same I2948 (ICM20948) in both.

Thanks
Sujiv0

2

The AK09916 is in the ICM20948

It is actually a simulated I2C, the device is actually connected via SPI

You are connected via the STM32

3

But in Here Module (V1) the i2c address is 0x69, while in Here2 is 0x0c. Is there any way to change to 0x69. Actually I need 9dof data over I2C.

4

@philip any possibilities that I can get the accelerometer & gyro values from Here2 Module?

Thanks.

5

Not unless you write custom firmware

6

@philip I tried getting register values for accel & gyro. But as the address is 0x0c those registers are not accessible. Is there any other hints which we can try?

7

There is no way to get them.
We do not emulate this in the firmware at this time.
The only way would be to write totally new firmware.

8

Hi, can you explain how did you connect it to the raspberry please? A picture would be amazing but i understand it was a while ago!

Thanks!!

9

You can connect the Here2 according to the pinout and get the data from the sensor via their buses:
https://ardupilot.org/copter/docs/common-here-plus-gps.html#connecting-the-vehicle-and-base-station-gpss

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