Here4 UART GPS

Here GPS
1

I am trying to get direct access to the ublox on my here4. Long story but I wont go into it… I lost access to the CAN bus because I changed the full duplex parameter on accident. I see it on the can bus for a few seconds at boot but then nothing.

Anyhow - I have breakout board hooked up. I see I2C addresses 0x20 and 0x55. I can talk to the RM3100 using my arduino and get mag output so I know thats working. I also see on UART a “RM3100: Found at address 0x1 as compass 0” message on boot so I know I am getting output on the serial port.

How do I get access to the ublox to upgrade firmware directly using uCenter and COM port? I bricked it (safe mode) using the serial passthru firmware upgrade and it kept losing ACK / writing again packets all the time and failed.

And how can I change params back to defaults on here4 controls? It wont show up in CAN bus anymore (past 5 seconds of it booting it disappears).

Thx!

2

@Sammy Disconnect anything connected over I2C and then try to connect over CAN. Then make sure you are running latest Here4 firmware.

Then try following these steps Here 4 Manual | CubePilot
These are the steps to connect ublox to u-center as well.

If update fails, try following things:

  • set parameter FORMAT_VERSION 0 on Here4 itself and reboot.
  • set parameter GPS_SAFEBOOT 1 and reboot and then try above steps to update, once updated set GPS_SAFEBOOT parameter back to 0.