How to interface px4 with here2 gps i2c mode module?

Here GPS
1

Hi. I’m beginer with Here2 gps module

If I set I2C mode on Here2 gps, how to interface px4 with here2?

I found about Here2 :
(1) STM32F302
(2) running ChibiOS
(from HERE2 and HERE+V2 GPS - sUAS News - The Business of Drones ))

I think,
(1) PX4 is I2C Master and communicate with STM32F302(Here2)'s I2C Driver-1(Slave)
(2) STM32F302(Here2) is I2C Driver-2(Master) and communicate with sensors(on Here2)
are those right?

If I was wrong,
If I set I2C mode on Here2 gps,
Is PX4 electrically connected to sensor(on Here2)?

Is anybody here to know about interface I2C mode(on Here2) with px4?

2

PX4 should auto detect the Here2 in I2C mode.

3

Thank you @Alvin

Like you said, I found it.
If I input ‘i2cdetect’ command in MAVLink Console,
I can check two devices addressed 0x0c, 0x55.

I have a question. In I2C mode case,
Are switch(I2C, CAN) and sensor directly connected as a hardware circuit in Here2 hardware?
or
Are switch(I2C, CAN) and sensor connected by firmware via STM32F302?

It is just a developer curiosity :slight_smile:

4

There is a hardware switch on the PCB. You can switch mode with it.