Open Mower Wiki - User contributions [en]

Unicore GPS Setup-CAN

2025-06-08T20:44:58Z

Agr: Agr moved page Unicore GPS Setup-CAN to Unicore GPS Setup-UART

#REDIRECT [[Unicore GPS Setup-UART]]

Unicore GPS Setup-UART

2025-06-08T20:44:56Z

Agr: Agr moved page Unicore GPS Setup-CAN to Unicore GPS Setup-UART

= Step-by step guide to setup UM9XX module. =

Prerequisites:
* Modified mower with replaced mainboard
* Installed RPI with <code>openmower</code> service running.

== Step 1. Solder headers on WM9XX and note which UART line you choosen ==
<gallery mode="packed" widths="400" heights="400">
File:Wm9xx.png|WM9XX
</gallery>

You only need 4 middle pins from 6 available: gnd, vcc, tx, rx.

Remaining 2 '''not needed''':
* EN - can be used to shut down the module temporarily
* PPS is a pulse once per second, in case you want to time something

== Step 2. Wire WM9XX to the mainboard ==

Alternative to manual wiring: [https://github.com/xtech/hw-openmower-utils/tree/main/hw-openmower-utils-v1-arduino-uno-um9x adapter board]

{| class="wikitable"
|+ Pinout
|-
! MainBoard !! UM9XX
|-
| TXD || TXD
|-
| RXD || RXD
|-
| 5V_IN || VCC
|-
| GND || GND
|}

<gallery mode="packed" widths="400" heights="400">
File:UM9XX wiring - pinout.jpg| UM9XX wiring sample
File:Mainboard wiring.jpg| Mainboard wiring sample
</gallery>

== Step 3. Configure UM9XX over UART ==

* Install miniterm (part of python3-serial)
<code>sudo apt-get install python3-serial</code>
* Stop openmower service (otherwise your UART bus is already occupied)
<code>sudo systemctl stop openmower</code>
* Connect to the CAN bus with miniterm (because we wired directly to mainboard, CAN will be available on <code>/dev/ttyAMA1</code>, default baud rate is 115200 )

<syntaxhighlight lang="bash">
python -m serial.tools.miniterm /dev/ttyAMA1 115200 -e
</syntaxhighlight>

==== <div style="color: red"> ⚠ Next steps depend on which UART-line you wired headers ⚠ </div> ====

Following code samples assume you wired to bottom lane (COM1), if not, replace COM1 -> COM2

* Reset and configure Baud rate
FRESET⏎ Enter

<syntaxhighlight lang="bash">
openmower@openmower:~ $ python -m serial.tools.miniterm /dev/ttyAMA1 115200 -e
--- Miniterm on /dev/ttyAMA1 115200,8,N,1 ---
--- Quit: Ctrl+] | Menu: Ctrl+T | Help: Ctrl+T followed by Ctrl+H ---
FRESET
$command,FRESET,response: OK*4D
system is rebooting
..........
$devicename,COM1*67
</syntaxhighlight>

Execute

CONFIG COM1 460800⏎ Enter

Now exit miniterm via <code> Ctrl + ] </code>

Connect again to UM9x but with new/higher baud rate via:
<syntaxhighlight lang="bash">
python -m serial.tools.miniterm /dev/ttyAMA1 460800 -e
</syntaxhighlight>

'''Note''' if you are not receiving responces to your commands, something is wrong with baud-rate or COM port you are using, reconnect with default baud rate, reset (FRESET) and try again.

For next step - with every "GP*" command your sent, you'll get spammed with more messages.
At the end it will become hard to recognize the "OK" from "SAVECONFIG", but it's mandatory that you ensure that "SAVECONFIG" got done!
MODE ROVER UAV ⏎ Enter
GPGSV COM1 2 ⏎ Enter
GPRMC COM1 1 ⏎ Enter
GPGSA COM1 1 ⏎ Enter
GPVTG COM1 1 ⏎ Enter
GPGGA COM1 0.5 ⏎ Enter
SAVECONFIG ⏎ Enter

Example of expected execution output

$GNGGA,192705.50,,,,,0,00,9999.0,,,,,,*45
$command,SAVECONFIG,response: OK*55
$GNGGA,192706.00,,,,,0,00,9999.0,,,,,,*43
$GPGSA,,1,,,,,,,,,,,,,,,,*73
$GNRMC,192706.00,V,,,,,,,030625,0.0,E,N,V*7B

exit miniterm via <code> Ctrl + ] </code>

== Step 4. Configure openmower ==

Update your <code>mower_config.txt</code>
<syntaxhighlight lang="bash">
export OM_GPS_PROTOCOL="NMEA"
export OM_GPS_BAUDRATE="460800"
</syntaxhighlight>

Start openmower service
<code>sudo systemctl start openmower</code>

<div style="color: green">
'''Done!'''
</div>
Assuming you already configured RTK base, you can bring mower outside and check if you are getting GPS FIX.

For support and assistance in troubleshooting [https://discord.com/channels/958476543846412329/1379531837273149470 join discord].

Unicore GPS Setup-UART

2025-06-08T20:42:20Z

Agr:

Unicore GPS Setup-UART

2025-06-08T20:40:48Z

Agr: /* Step 3. Configure UM9XX over UART */

= Step-by step guide to setup UM9XX module. =

Prerequisites:
* Modified mower with replaced mainboard
* Installed RPI with <code>openmower</code> service running.

== Step 1. Solder headers on WM9XX and note which UART line you choosen ==
<gallery mode="packed" widths="400" heights="400">
File:Wm9xx.png|WM9XX
</gallery>

You only need 4 middle pins from 6 available: gnd, vcc, tx, rx.

Remaining 2 '''not needed''':
* EN - can be used to shut down the module temporarily
* PPS is a pulse once per second, in case you want to time something

== Step 2. Wire WM9XX to the mainboard ==

Alternative to manual wiring: [https://github.com/xtech/hw-openmower-utils/tree/main/hw-openmower-utils-v1-arduino-uno-um9x adapter board]

{| class="wikitable"
|+ Pinout
|-
! MainBoard !! UM9XX
|-
| TXD || TXD
|-
| RXD || RXD
|-
| 5V_IN || VCC
|-
| GND || GND
|}

<gallery mode="packed" widths="400" heights="400">
File:UM9XX wiring - pinout.jpg| UM9XX wiring sample
File:Mainboard wiring.jpg| Mainboard wiring sample
</gallery>

== Step 3. Configure UM9XX over UART ==

* Install miniterm (part of python3-serial)
<code>sudo apt-get install python3-serial</code>
* Stop openmower service (otherwise your UART bus is already occupied)
<code>sudo systemctl stop openmower</code>
* Connect to the CAN bus with miniterm (because we wired directly to mainboard, CAN will be available on <code>/dev/ttyAMA1</code>, default baud rate is 115200 )

<syntaxhighlight lang="bash">
python -m serial.tools.miniterm /dev/ttyAMA1 115200 -e
</syntaxhighlight>

==== <div style="color: red"> ⚠ Next steps depend on which UART-line you wired headers ⚠ </div> ====

Following code samples assume you wired to bottom lane (COM1), if not, replace COM1 -> COM2

* Reset and configure Baud rate
FRESET⏎ Enter

<syntaxhighlight lang="bash">
openmower@openmower:~ $ python -m serial.tools.miniterm /dev/ttyAMA1 115200 -e
--- Miniterm on /dev/ttyAMA1 115200,8,N,1 ---
--- Quit: Ctrl+] | Menu: Ctrl+T | Help: Ctrl+T followed by Ctrl+H ---
FRESET
$command,FRESET,response: OK*4D
system is rebooting
..........
$devicename,COM1*67
</syntaxhighlight>

Execute

CONFIG COM1 460800⏎ Enter

Now exit miniterm via <code> Ctrl + ] </code>

Connect again to UM9x but with new/higher baud rate via:
<syntaxhighlight lang="bash">
python -m serial.tools.miniterm /dev/ttyAMA1 460800 -e
</syntaxhighlight>

'''Note''' if you are not receiving responces to your commands, something is wrong with baud-rate or COM port you are using, reconnect with default

With every "GP*" command your sent, you'll get spammed with more messages.
At the end it will become hard to recognize the "OK" from "SAVECONFIG", but it's mandatory that you ensure that "SAVECONFIG" got done!

MODE ROVER UAV ⏎ Enter
GPGSV COM1 2 ⏎ Enter
GPRMC COM1 1 ⏎ Enter
GPGSA COM1 1 ⏎ Enter
GPVTG COM1 1 ⏎ Enter
GPGGA COM1 0.5 ⏎ Enter
SAVECONFIG ⏎ Enter

Example of expected execution output

$GNGGA,192705.50,,,,,0,00,9999.0,,,,,,*45
$command,SAVECONFIG,response: OK*55
$GNGGA,192706.00,,,,,0,00,9999.0,,,,,,*43
$GPGSA,,1,,,,,,,,,,,,,,,,*73
$GNRMC,192706.00,V,,,,,,,030625,0.0,E,N,V*7B

exit miniterm via <code> Ctrl + ] </code>

== Step 4. Configure openmower ==

Update your <code>mower_config.txt</code>
<syntaxhighlight lang="bash">
export OM_GPS_PROTOCOL="NMEA"
export OM_GPS_BAUDRATE="460800"
</syntaxhighlight>

Start openmower service
<code>sudo systemctl start openmower</code>

<div style="color: green">
'''Done!'''
</div>
Assuming you already configured RTK base, you can bring mower outside and check if you are getting GPS FIX.

For support and assistance in troubleshooting [https://discord.com/channels/958476543846412329/1379531837273149470 join discord].

Unicore GPS Setup-UART

2025-06-08T20:39:53Z

Agr: /* Step 1. Solder headers on WM9XX and note which UART line you choosen */

= Step-by step guide to setup UM9XX module. =

Prerequisites:
* Modified mower with replaced mainboard
* Installed RPI with <code>openmower</code> service running.

== Step 1. Solder headers on WM9XX and note which UART line you choosen ==
<gallery mode="packed" widths="400" heights="400">
File:Wm9xx.png|WM9XX
</gallery>

You only need 4 middle pins from 6 available: gnd, vcc, tx, rx.

Remaining 2 '''not needed''':
* EN - can be used to shut down the module temporarily
* PPS is a pulse once per second, in case you want to time something

== Step 2. Wire WM9XX to the mainboard ==

Alternative to manual wiring: [https://github.com/xtech/hw-openmower-utils/tree/main/hw-openmower-utils-v1-arduino-uno-um9x adapter board]

{| class="wikitable"
|+ Pinout
|-
! MainBoard !! UM9XX
|-
| TXD || TXD
|-
| RXD || RXD
|-
| 5V_IN || VCC
|-
| GND || GND
|}

<gallery mode="packed" widths="400" heights="400">
File:UM9XX wiring - pinout.jpg| UM9XX wiring sample
File:Mainboard wiring.jpg| Mainboard wiring sample
</gallery>

== Step 3. Configure UM9XX over UART ==

* Install miniterm (part of python3-serial)
<code>sudo apt-get install python3-serial</code>
* Stop openmower service (otherwise your CAN bus is already occupied)
<code>sudo systemctl stop openmower</code>
* Connect to the CAN bus with miniterm (because we wired directly to mainboard, CAN will be available on <code>/dev/ttyAMA1</code>, default baud rate is 115200 )

<syntaxhighlight lang="bash">
python -m serial.tools.miniterm /dev/ttyAMA1 115200 -e
</syntaxhighlight>

==== <div style="color: red"> ⚠ Next steps depend on which UART-line you wired headers ⚠ </div> ====

Following code samples assume you wired to bottom lane (COM1), if not, replace COM1 -> COM2

* Reset and configure Baud rate
FRESET⏎ Enter

<syntaxhighlight lang="bash">
openmower@openmower:~ $ python -m serial.tools.miniterm /dev/ttyAMA1 115200 -e
--- Miniterm on /dev/ttyAMA1 115200,8,N,1 ---
--- Quit: Ctrl+] | Menu: Ctrl+T | Help: Ctrl+T followed by Ctrl+H ---
FRESET
$command,FRESET,response: OK*4D
system is rebooting
..........
$devicename,COM1*67
</syntaxhighlight>

Execute

CONFIG COM1 460800⏎ Enter

Now exit miniterm via <code> Ctrl + ] </code>

Connect again to UM9x but with new/higher baud rate via:
<syntaxhighlight lang="bash">
python -m serial.tools.miniterm /dev/ttyAMA1 460800 -e
</syntaxhighlight>

'''Note''' if you are not receiving responces to your commands, something is wrong with baud-rate or COM port you are using, reconnect with default

With every "GP*" command your sent, you'll get spammed with more messages.
At the end it will become hard to recognize the "OK" from "SAVECONFIG", but it's mandatory that you ensure that "SAVECONFIG" got done!

MODE ROVER UAV ⏎ Enter
GPGSV COM1 2 ⏎ Enter
GPRMC COM1 1 ⏎ Enter
GPGSA COM1 1 ⏎ Enter
GPVTG COM1 1 ⏎ Enter
GPGGA COM1 0.5 ⏎ Enter
SAVECONFIG ⏎ Enter

Example of expected execution output

$GNGGA,192705.50,,,,,0,00,9999.0,,,,,,*45
$command,SAVECONFIG,response: OK*55
$GNGGA,192706.00,,,,,0,00,9999.0,,,,,,*43
$GPGSA,,1,,,,,,,,,,,,,,,,*73
$GNRMC,192706.00,V,,,,,,,030625,0.0,E,N,V*7B

exit miniterm via <code> Ctrl + ] </code>

== Step 4. Configure openmower ==

Update your <code>mower_config.txt</code>
<syntaxhighlight lang="bash">
export OM_GPS_PROTOCOL="NMEA"
export OM_GPS_BAUDRATE="460800"
</syntaxhighlight>

Start openmower service
<code>sudo systemctl start openmower</code>

<div style="color: green">
'''Done!'''
</div>
Assuming you already configured RTK base, you can bring mower outside and check if you are getting GPS FIX.

For support and assistance in troubleshooting [https://discord.com/channels/958476543846412329/1379531837273149470 join discord].

Unicore GPS modules

2025-06-08T20:37:58Z

Agr: /* Step-by step set-up guides */

Several users have chosen alternative GPS RTK modules with chips by ''Unicore'':

* ''UM960''
* ''UM980''
* ''UM982''

These chips are sold in different variants. Some come with a USB-C socket (so they can be connected directly to the Raspberry Pi). Some have different antenna socket (which need an ''SMA F'' to ''MMCX M90'' cable).

Compared to the ''ArduSimple simpleRTK2B,'' they're a bit cheaper and support triple-band frequencies.

== Variants how modules can be connected and configured ==
* Connection
** Module USB-c -> RPI USB (e.g. with angle connector)
** Module UART -> MainBoard UART (requires header connectivity)

* Configuration
** With vendor software (requires Windows PC) - should be done before installing module into mower
** Over UART bus (only terminal) - should be done when RPI installed and operational

== Step-by step set-up guides ==
*[[Unicore GPS Setup-CAN| With wiring to mainboard and configuration on UART]]
* <TODO> add other guides

== Documentation ==
[https://core-electronics.com.au/attachments/localcontent/Unicore_Reference_Commands_Manual_For_N4_High_Precision_Products_V2_EN_R1_1_189543505cb.pdf Command reference]

== Software ==
The vendor offers [https://en.unicore.com/products/uprecise.html ''UPrecise''] to check all status details and configure the receiver. The UI is pleasing and has many features, but also quite some bugs. The download requires creating a free account.

== Configuration ==

=== Receiver ===
The following configuration works quite well. COM3 is used when connected via USB.<syntaxhighlight>
FRESET
CONFIG COM3 460800
MODE ROVER UAV
GPGGA 0.1
GPGSV 1
GPRMC 1
GPGSA 1
GPVTG 1
GPGST 1
SAVECONFIG
</syntaxhighlight>These lines can be pasted into ''UPrecise'' after connecting to the receiver. Theoretically, you can also connect directly to the receiver's TTY, but make sure to send CR+LF (<code>\r\n</code>) line endings, otherwise the commands won't be recognized.

=== OpenMower (<code>mower_config.txt</code>) ===
<syntaxhighlight lang="bash">
export OM_GPS_PROTOCOL="NMEA"
export OM_GPS_PORT="/dev/ttyUSB0"
export OM_GPS_BAUDRATE="460800"
</syntaxhighlight>

== Rebooting ==
Sometimes the receiver just can't get a fix. Then it might be helpful to reboot it. There are three buttons in ''UPrecise'', which execute these commands:
{| class="wikitable"
!Button
!Command
|-
|Hot Start
|<code>RESET</code>
|-
|Warm Start
|<code>RESET EPHEM</code>
|-
|Cold Start
|<code>RESET EPHEM ALMANAC IONUTC POSITION</code>
|}
See also section 8.3 ("Reset") in the [https://core-electronics.com.au/attachments/localcontent/Unicore_Reference_Commands_Manual_For_N4_High_Precision_Products_V2_EN_R1_1_189543505cb.pdf command reference]. In contrast to the <code>FRESET</code> command, these command '''don't''' wipe the configuration.

Unicore GPS modules

2025-06-08T20:37:43Z

Agr:

Several users have chosen alternative GPS RTK modules with chips by ''Unicore'':

* ''UM960''
* ''UM980''
* ''UM982''

These chips are sold in different variants. Some come with a USB-C socket (so they can be connected directly to the Raspberry Pi). Some have different antenna socket (which need an ''SMA F'' to ''MMCX M90'' cable).

Compared to the ''ArduSimple simpleRTK2B,'' they're a bit cheaper and support triple-band frequencies.

== Variants how modules can be connected and configured ==
* Connection
** Module USB-c -> RPI USB (e.g. with angle connector)
** Module UART -> MainBoard UART (requires header connectivity)

* Configuration
** With vendor software (requires Windows PC) - should be done before installing module into mower
** Over UART bus (only terminal) - should be done when RPI installed and operational

== Step-by step set-up guides ==
*[[Unicore GPS Setup-CAN| With wiring to mainboard and configuration on CAN]]
* <TODO> add other guides

== Documentation ==
[https://core-electronics.com.au/attachments/localcontent/Unicore_Reference_Commands_Manual_For_N4_High_Precision_Products_V2_EN_R1_1_189543505cb.pdf Command reference]

== Software ==
The vendor offers [https://en.unicore.com/products/uprecise.html ''UPrecise''] to check all status details and configure the receiver. The UI is pleasing and has many features, but also quite some bugs. The download requires creating a free account.

== Configuration ==

=== Receiver ===
The following configuration works quite well. COM3 is used when connected via USB.<syntaxhighlight>
FRESET
CONFIG COM3 460800
MODE ROVER UAV
GPGGA 0.1
GPGSV 1
GPRMC 1
GPGSA 1
GPVTG 1
GPGST 1
SAVECONFIG
</syntaxhighlight>These lines can be pasted into ''UPrecise'' after connecting to the receiver. Theoretically, you can also connect directly to the receiver's TTY, but make sure to send CR+LF (<code>\r\n</code>) line endings, otherwise the commands won't be recognized.

=== OpenMower (<code>mower_config.txt</code>) ===
<syntaxhighlight lang="bash">
export OM_GPS_PROTOCOL="NMEA"
export OM_GPS_PORT="/dev/ttyUSB0"
export OM_GPS_BAUDRATE="460800"
</syntaxhighlight>

== Rebooting ==
Sometimes the receiver just can't get a fix. Then it might be helpful to reboot it. There are three buttons in ''UPrecise'', which execute these commands:
{| class="wikitable"
!Button
!Command
|-
|Hot Start
|<code>RESET</code>
|-
|Warm Start
|<code>RESET EPHEM</code>
|-
|Cold Start
|<code>RESET EPHEM ALMANAC IONUTC POSITION</code>
|}
See also section 8.3 ("Reset") in the [https://core-electronics.com.au/attachments/localcontent/Unicore_Reference_Commands_Manual_For_N4_High_Precision_Products_V2_EN_R1_1_189543505cb.pdf command reference]. In contrast to the <code>FRESET</code> command, these command '''don't''' wipe the configuration.

Unicore GPS Setup-UART

2025-06-08T20:36:08Z

Agr:

= Step-by step guide to setup UM9XX module. =

Prerequisites:
* Modified mower with replaced mainboard
* Installed RPI with <code>openmower</code> service running.

== Step 1. Solder headers on WM9XX and note which UART line you choosen ==
<gallery mode="packed" widths="400" heights="400">
File:Wm9xx.png|WM9XX CAN
</gallery>

You only need 4 middle pins from 6 available: gnd, vcc, tx, rx.

Remaining 2 '''not needed''':
* EN - can be used to shut down the module temporarily
* PPS is a pulse once per second, in case you want to time something

== Step 2. Wire WM9XX to the mainboard ==

Alternative to manual wiring: [https://github.com/xtech/hw-openmower-utils/tree/main/hw-openmower-utils-v1-arduino-uno-um9x adapter board]

{| class="wikitable"
|+ Pinout
|-
! MainBoard !! UM9XX
|-
| TXD || TXD
|-
| RXD || RXD
|-
| 5V_IN || VCC
|-
| GND || GND
|}

<gallery mode="packed" widths="400" heights="400">
File:UM9XX wiring - pinout.jpg| UM9XX wiring sample
File:Mainboard wiring.jpg| Mainboard wiring sample
</gallery>

== Step 3. Configure UM9XX over UART ==

* Install miniterm (part of python3-serial)
<code>sudo apt-get install python3-serial</code>
* Stop openmower service (otherwise your CAN bus is already occupied)
<code>sudo systemctl stop openmower</code>
* Connect to the CAN bus with miniterm (because we wired directly to mainboard, CAN will be available on <code>/dev/ttyAMA1</code>, default baud rate is 115200 )

<syntaxhighlight lang="bash">
python -m serial.tools.miniterm /dev/ttyAMA1 115200 -e
</syntaxhighlight>

==== <div style="color: red"> ⚠ Next steps depend on which UART-line you wired headers ⚠ </div> ====

Following code samples assume you wired to bottom lane (COM1), if not, replace COM1 -> COM2

* Reset and configure Baud rate
FRESET⏎ Enter

<syntaxhighlight lang="bash">
openmower@openmower:~ $ python -m serial.tools.miniterm /dev/ttyAMA1 115200 -e
--- Miniterm on /dev/ttyAMA1 115200,8,N,1 ---
--- Quit: Ctrl+] | Menu: Ctrl+T | Help: Ctrl+T followed by Ctrl+H ---
FRESET
$command,FRESET,response: OK*4D
system is rebooting
..........
$devicename,COM1*67
</syntaxhighlight>

Execute

CONFIG COM1 460800⏎ Enter

Now exit miniterm via <code> Ctrl + ] </code>

Connect again to UM9x but with new/higher baud rate via:
<syntaxhighlight lang="bash">
python -m serial.tools.miniterm /dev/ttyAMA1 460800 -e
</syntaxhighlight>

'''Note''' if you are not receiving responces to your commands, something is wrong with baud-rate or COM port you are using, reconnect with default

With every "GP*" command your sent, you'll get spammed with more messages.
At the end it will become hard to recognize the "OK" from "SAVECONFIG", but it's mandatory that you ensure that "SAVECONFIG" got done!

MODE ROVER UAV ⏎ Enter
GPGSV COM1 2 ⏎ Enter
GPRMC COM1 1 ⏎ Enter
GPGSA COM1 1 ⏎ Enter
GPVTG COM1 1 ⏎ Enter
GPGGA COM1 0.5 ⏎ Enter
SAVECONFIG ⏎ Enter

Example of expected execution output

$GNGGA,192705.50,,,,,0,00,9999.0,,,,,,*45
$command,SAVECONFIG,response: OK*55
$GNGGA,192706.00,,,,,0,00,9999.0,,,,,,*43
$GPGSA,,1,,,,,,,,,,,,,,,,*73
$GNRMC,192706.00,V,,,,,,,030625,0.0,E,N,V*7B

exit miniterm via <code> Ctrl + ] </code>

== Step 4. Configure openmower ==

Update your <code>mower_config.txt</code>
<syntaxhighlight lang="bash">
export OM_GPS_PROTOCOL="NMEA"
export OM_GPS_BAUDRATE="460800"
</syntaxhighlight>

Start openmower service
<code>sudo systemctl start openmower</code>

<div style="color: green">
'''Done!'''
</div>
Assuming you already configured RTK base, you can bring mower outside and check if you are getting GPS FIX.

For support and assistance in troubleshooting [https://discord.com/channels/958476543846412329/1379531837273149470 join discord].

Unicore GPS Setup-UART

2025-06-08T12:54:34Z

Agr:

= Step-by step guide to setup UM9XX module. =

Prerequisites:
* Modified mower with replaced mainboard
* Installed RPI with <code>openmower</code> service running.

== Step 1. Solder headers on WM9XX and note which CAN line you choosen ==
<gallery mode="packed" widths=400 heights=400>
File:Wm9xx.png|WM9XX CAN
</gallery>

You only need 4 middle pins from 6 available: gnd, vcc, tx, rx.

Remaining 2 '''not needed''':
* EN - can be used to shut down the module temporarily
* PPS is a pulse once per second, in case you want to time something

== Step 2. Wire WM9XX to the mainboard ==
{| class="wikitable"
|+ Pinout
|-
! MainBoard !! UM9XX
|-
| TXD || TXD
|-
| RXD || RXD
|-
| 5V_IN || VCC
|-
| GND || GND
|}

<gallery mode="packed" widths=400 heights=400>
File:UM9XX wiring - pinout.jpg| UM9XX wiring sample
File:Mainboard wiring.jpg| Mainboard wiring sample
</gallery>

== Step 3. Configure UM9XX over CAN ==

* Install miniterm (part of python3-serial)
<code>sudo apt-get install python3-serial</code>
* Stop openmower service (otherwise your CAN bus is already occupied)
<code>sudo systemctl stop openmower</code>
* Connect to the CAN bus with miniterm (because we wired directly to mainboard, CAN will be available on <code>/dev/ttyAMA1</code>, default baud rate is 115200 )

<syntaxhighlight lang="bash">
python -m serial.tools.miniterm /dev/ttyAMA1 115200 -e
</syntaxhighlight>

==== <div style="color: red"> ⚠ Next steps depend on which COM-line you wired headers ⚠ </div> ====

Following code samples assume you wired to bottom lane (COM1), if not, replace COM1 -> COM2

* Reset and configure Baud rate
FRESET⏎ Enter

<syntaxhighlight lang="bash">
openmower@openmower:~ $ python -m serial.tools.miniterm /dev/ttyAMA1 115200 -e
--- Miniterm on /dev/ttyAMA1 115200,8,N,1 ---
--- Quit: Ctrl+] | Menu: Ctrl+T | Help: Ctrl+T followed by Ctrl+H ---
FRESET
$command,FRESET,response: OK*4D
system is rebooting
..........
$devicename,COM1*67
</syntaxhighlight>

Execute

CONFIG COM1 460800⏎ Enter

Now exit miniterm via <code> Ctrl + ] </code>

Connect again to UM9x but with new/higher baud rate via:
<syntaxhighlight lang="bash">
python -m serial.tools.miniterm /dev/ttyAMA1 460800 -e
</syntaxhighlight>

'''Note''' if you are not receiving responces to your commands, something is wrong with baud-rate or COM port you are using, reconnect with default

With every "GP*" command your sent, you'll get spammed with more messages.
At the end it will become hard to recognize the "OK" from "SAVECONFIG", but it's mandatory that you ensure that "SAVECONFIG" got done!

MODE ROVER UAV ⏎ Enter
GPGSV COM1 2 ⏎ Enter
GPRMC COM1 1 ⏎ Enter
GPGSA COM1 1 ⏎ Enter
GPVTG COM1 1 ⏎ Enter
GPGGA COM1 0.5 ⏎ Enter
SAVECONFIG ⏎ Enter

Example of expected execution output

$GNGGA,192705.50,,,,,0,00,9999.0,,,,,,*45
$command,SAVECONFIG,response: OK*55
$GNGGA,192706.00,,,,,0,00,9999.0,,,,,,*43
$GPGSA,,1,,,,,,,,,,,,,,,,*73
$GNRMC,192706.00,V,,,,,,,030625,0.0,E,N,V*7B

exit miniterm via <code> Ctrl + ] </code>

== Step 4. Configure openmower ==

Update your <code>mower_config.txt</code>
<syntaxhighlight lang="bash">
export OM_GPS_PROTOCOL="NMEA"
export OM_GPS_BAUDRATE="460800"
</syntaxhighlight>

Start openmower service
<code>sudo systemctl start openmower</code>

<div style="color: green">
'''Done!'''
</div>
Assuming you already configured RTK base, you can bring mower outside and check if you are getting GPS FIX.

For support and assistance in troubleshooting [https://discord.com/channels/958476543846412329/1379531837273149470 join discord].

Unicore GPS Setup-UART

2025-06-08T12:46:10Z

Agr:

= Step-by step guide to setup UM9XX module. =

Prerequisites:
* Modified mower with replaced mainboard
* Installed RPI with <code>openmower</code> service running.

== Step 1. Solder headers on WM9XX and note which CAN line you choosen ==
<gallery mode="slideshow">
File:Wm9xx.png|WM9XX CAN
</gallery>

You only need 4 middle pins from 6 available: gnd, vcc, tx, rx.

Remaining 2 '''not needed''':
* EN - can be used to shut down the module temporarily
* PPS is a pulse once per second, in case you want to time something

== Step 2. Wire WM9XX to the mainboard ==
{| class="wikitable"
|+ Pinout
|-
! MainBoard !! UM9XX
|-
| TXD || TXD
|-
| RXD || RXD
|-
| 5V_IN || VCC
|-
| GND || GND
|}

<gallery>
File:UM9XX wiring - pinout.jpg| UM9XX wiring sample
File:Mainboard wiring.jpg| Mainboard wiring sample
</gallery>

== Step 3. Configure UM9XX over CAN ==

* Install miniterm (part of python3-serial)
<code>sudo apt-get install python3-serial</code>
* Stop openmower service (otherwise your CAN bus is already occupied)
<code>sudo systemctl stop openmower</code>
* Connect to the CAN bus with miniterm (because we wired directly to mainboard, CAN will be available on <code>/dev/ttyAMA1</code>, default baud rate is 115200 )

<syntaxhighlight lang="bash">
python -m serial.tools.miniterm /dev/ttyAMA1 115200 -e
</syntaxhighlight>

==== <div style="color: red"> ⚠ Next steps depend on which COM-line you wired headers ⚠ </div> ====

Following code samples assume you wired to bottom lane (COM1), if not, replace COM1 -> COM2

* Reset and configure Baud rate
FRESET⏎ Enter

<syntaxhighlight lang="bash">
openmower@openmower:~ $ python -m serial.tools.miniterm /dev/ttyAMA1 115200 -e
--- Miniterm on /dev/ttyAMA1 115200,8,N,1 ---
--- Quit: Ctrl+] | Menu: Ctrl+T | Help: Ctrl+T followed by Ctrl+H ---
FRESET
$command,FRESET,response: OK*4D
system is rebooting
..........
$devicename,COM1*67
</syntaxhighlight>

Execute

CONFIG COM1 460800⏎ Enter

Now exit miniterm via <code> Ctrl + ] </code>

Connect again to UM9x but with new/higher baud rate via:
<syntaxhighlight lang="bash">
python -m serial.tools.miniterm /dev/ttyAMA1 460800 -e
</syntaxhighlight>

'''Note''' if you are not receiving responces to your commands, something is wrong with baud-rate or COM port you are using, reconnect with default

With every "GP*" command your sent, you'll get spammed with more messages.
At the end it will become hard to recognize the "OK" from "SAVECONFIG", but it's mandatory that you ensure that "SAVECONFIG" got done!

MODE ROVER UAV ⏎ Enter
GPGSV COM1 2 ⏎ Enter
GPRMC COM1 1 ⏎ Enter
GPGSA COM1 1 ⏎ Enter
GPVTG COM1 1 ⏎ Enter
GPGGA COM1 0.5 ⏎ Enter
SAVECONFIG ⏎ Enter

Example of expected execution output

$GNGGA,192705.50,,,,,0,00,9999.0,,,,,,*45
$command,SAVECONFIG,response: OK*55
$GNGGA,192706.00,,,,,0,00,9999.0,,,,,,*43
$GPGSA,,1,,,,,,,,,,,,,,,,*73
$GNRMC,192706.00,V,,,,,,,030625,0.0,E,N,V*7B

exit miniterm via <code> Ctrl + ] </code>

== Step 4. Configure openmower ==

Update your <code>mower_config.txt</code>
<syntaxhighlight lang="bash">
export OM_GPS_PROTOCOL="NMEA"
export OM_GPS_BAUDRATE="460800"
</syntaxhighlight>

Start openmower service
<code>sudo systemctl start openmower</code>

<div style="color: green">
'''Done!'''
</div>
Assuming you already configured RTK base, you can bring mower outside and check if you are getting GPS FIX.

For support and assistance in troubleshooting [https://discord.com/channels/958476543846412329/1379531837273149470 join discord].

Unicore GPS Setup-UART

2025-06-08T12:45:06Z

Agr:

= Step-by step guide to setup UM9XX module. =

Prerequisites:
* Modified mower with replaced mainboard
* Installed RPI with <code>openmower</code> service running.

== Step 1. Solder headers on WM9XX and note which CAN line you choosen ==
<gallery mode="slideshow">
File:Index.php?title=File:Wm9xx.png|link=File:Wm9xx.png|WM9XX CAN
</gallery>

You only need 4 middle pins from 6 available: gnd, vcc, tx, rx.

Remaining 2 '''not needed''':
* EN - can be used to shut down the module temporarily
* PPS is a pulse once per second, in case you want to time something

== Step 2. Wire WM9XX to the mainboard ==
{| class="wikitable"
|+ Pinout
|-
! MainBoard !! UM9XX
|-
| TXD || TXD
|-
| RXD || RXD
|-
| 5V_IN || VCC
|-
| GND || GND
|}

<gallery>
File:UM9XX wiring - pinout.jpg| UM9XX wiring sample
File:Mainboard wiring.jpg| Mainboard wiring sample
</gallery>

== Step 3. Configure UM9XX over CAN ==

* Install miniterm (part of python3-serial)
<code>sudo apt-get install python3-serial</code>
* Stop openmower service (otherwise your CAN bus is already occupied)
<code>sudo systemctl stop openmower</code>
* Connect to the CAN bus with miniterm (because we wired directly to mainboard, CAN will be available on <code>/dev/ttyAMA1</code>, default baud rate is 115200 )

<syntaxhighlight lang="bash">
python -m serial.tools.miniterm /dev/ttyAMA1 115200 -e
</syntaxhighlight>

==== <div style="color: red"> ⚠ Next steps depend on which COM-line you wired headers ⚠ </div> ====

Following code samples assume you wired to bottom lane (COM1), if not, replace COM1 -> COM2

* Reset and configure Baud rate
FRESET⏎ Enter

<syntaxhighlight lang="bash">
openmower@openmower:~ $ python -m serial.tools.miniterm /dev/ttyAMA1 115200 -e
--- Miniterm on /dev/ttyAMA1 115200,8,N,1 ---
--- Quit: Ctrl+] | Menu: Ctrl+T | Help: Ctrl+T followed by Ctrl+H ---
FRESET
$command,FRESET,response: OK*4D
system is rebooting
..........
$devicename,COM1*67
</syntaxhighlight>

Execute

CONFIG COM1 460800⏎ Enter

Now exit miniterm via <code> Ctrl + ] </code>

Connect again to UM9x but with new/higher baud rate via:
<syntaxhighlight lang="bash">
python -m serial.tools.miniterm /dev/ttyAMA1 460800 -e
</syntaxhighlight>

'''Note''' if you are not receiving responces to your commands, something is wrong with baud-rate or COM port you are using, reconnect with default

With every "GP*" command your sent, you'll get spammed with more messages.
At the end it will become hard to recognize the "OK" from "SAVECONFIG", but it's mandatory that you ensure that "SAVECONFIG" got done!

MODE ROVER UAV ⏎ Enter
GPGSV COM1 2 ⏎ Enter
GPRMC COM1 1 ⏎ Enter
GPGSA COM1 1 ⏎ Enter
GPVTG COM1 1 ⏎ Enter
GPGGA COM1 0.5 ⏎ Enter
SAVECONFIG ⏎ Enter

Example of expected execution output

$GNGGA,192705.50,,,,,0,00,9999.0,,,,,,*45
$command,SAVECONFIG,response: OK*55
$GNGGA,192706.00,,,,,0,00,9999.0,,,,,,*43
$GPGSA,,1,,,,,,,,,,,,,,,,*73
$GNRMC,192706.00,V,,,,,,,030625,0.0,E,N,V*7B

exit miniterm via <code> Ctrl + ] </code>

== Step 4. Configure openmower ==

Update your <code>mower_config.txt</code>
<syntaxhighlight lang="bash">
export OM_GPS_PROTOCOL="NMEA"
export OM_GPS_BAUDRATE="460800"
</syntaxhighlight>

Start openmower service
<code>sudo systemctl start openmower</code>

<div style="color: green">
'''Done!'''
</div>
Assuming you already configured RTK base, you can bring mower outside and check if you are getting GPS FIX.

For support and assistance in troubleshooting [https://discord.com/channels/958476543846412329/1379531837273149470 join discord].

Unicore GPS Setup-UART

2025-06-08T12:44:15Z

Agr:

= Step-by step guide to setup UM9XX module. =

Prerequisites:
* Modified mower with replaced mainboard
* Installed RPI with <code>openmower</code> service running.

== Step 1. Solder headers on WM9XX and note which CAN line you choosen ==
<gallery>
File:Wm9xx.png| WM9XX CAN
</gallery>

You only need 4 middle pins from 6 available: gnd, vcc, tx, rx.

Remaining 2 '''not needed''':
* EN - can be used to shut down the module temporarily
* PPS is a pulse once per second, in case you want to time something

== Step 2. Wire WM9XX to the mainboard ==
{| class="wikitable"
|+ Pinout
|-
! MainBoard !! UM9XX
|-
| TXD || TXD
|-
| RXD || RXD
|-
| 5V_IN || VCC
|-
| GND || GND
|}

<gallery>
File:UM9XX wiring - pinout.jpg| UM9XX wiring sample
File:Mainboard wiring.jpg| Mainboard wiring sample
</gallery>

== Step 3. Configure UM9XX over CAN ==

* Install miniterm (part of python3-serial)
<code>sudo apt-get install python3-serial</code>
* Stop openmower service (otherwise your CAN bus is already occupied)
<code>sudo systemctl stop openmower</code>
* Connect to the CAN bus with miniterm (because we wired directly to mainboard, CAN will be available on <code>/dev/ttyAMA1</code>, default baud rate is 115200 )

<syntaxhighlight lang="bash">
python -m serial.tools.miniterm /dev/ttyAMA1 115200 -e
</syntaxhighlight>

==== <div style="color: red"> ⚠ Next steps depend on which COM-line you wired headers ⚠ </div> ====

Following code samples assume you wired to bottom lane (COM1), if not, replace COM1 -> COM2

* Reset and configure Baud rate
FRESET⏎ Enter

<syntaxhighlight lang="bash">
openmower@openmower:~ $ python -m serial.tools.miniterm /dev/ttyAMA1 115200 -e
--- Miniterm on /dev/ttyAMA1 115200,8,N,1 ---
--- Quit: Ctrl+] | Menu: Ctrl+T | Help: Ctrl+T followed by Ctrl+H ---
FRESET
$command,FRESET,response: OK*4D
system is rebooting
..........
$devicename,COM1*67
</syntaxhighlight>

Execute

CONFIG COM1 460800⏎ Enter

Now exit miniterm via <code> Ctrl + ] </code>

Connect again to UM9x but with new/higher baud rate via:
<syntaxhighlight lang="bash">
python -m serial.tools.miniterm /dev/ttyAMA1 460800 -e
</syntaxhighlight>

'''Note''' if you are not receiving responces to your commands, something is wrong with baud-rate or COM port you are using, reconnect with default

With every "GP*" command your sent, you'll get spammed with more messages.
At the end it will become hard to recognize the "OK" from "SAVECONFIG", but it's mandatory that you ensure that "SAVECONFIG" got done!

MODE ROVER UAV ⏎ Enter
GPGSV COM1 2 ⏎ Enter
GPRMC COM1 1 ⏎ Enter
GPGSA COM1 1 ⏎ Enter
GPVTG COM1 1 ⏎ Enter
GPGGA COM1 0.5 ⏎ Enter
SAVECONFIG ⏎ Enter

Example of expected execution output

$GNGGA,192705.50,,,,,0,00,9999.0,,,,,,*45
$command,SAVECONFIG,response: OK*55
$GNGGA,192706.00,,,,,0,00,9999.0,,,,,,*43
$GPGSA,,1,,,,,,,,,,,,,,,,*73
$GNRMC,192706.00,V,,,,,,,030625,0.0,E,N,V*7B

exit miniterm via <code> Ctrl + ] </code>

== Step 4. Configure openmower ==

Update your <code>mower_config.txt</code>
<syntaxhighlight lang="bash">
export OM_GPS_PROTOCOL="NMEA"
export OM_GPS_BAUDRATE="460800"
</syntaxhighlight>

Start openmower service
<code>sudo systemctl start openmower</code>

<div style="color: green">
'''Done!'''
</div>
Assuming you already configured RTK base, you can bring mower outside and check if you are getting GPS FIX.

For support and assistance in troubleshooting [https://discord.com/channels/958476543846412329/1379531837273149470 join discord].

Unicore GPS modules

2025-06-08T12:31:54Z

Agr:

Several users have chosen alternative GPS RTK modules with chips by ''Unicore'':

* ''UM960''
* ''UM980''
* ''UM982''

These chips are sold in different variants. Some come with a USB-C socket (so they can be connected directly to the Raspberry Pi). Some have different antenna socket (which need an ''SMA F'' to ''MMCX M90'' cable).

Compared to the ''ArduSimple simpleRTK2B,'' they're a bit cheaper and support triple-band frequencies.

== Variants how modules can be connected and configured ==
* Connection
** Module USB-c -> RPI USB (e.g. with angle connector)
** Module CAN -> MainBoard CAN (requires header connectivity)

* Configuration
** With vendor software (requires Windows PC) - should be done before installing module into mower
** Over CAN bus (only terminal) - should be done when RPI installed and operational

== Step-by step set-up guides ==
*[[Unicore_GPS_Setup-CAN| With wiring to mainboard and configuration on CAN]]
* <TODO> add other guides

== Documentation ==
[https://core-electronics.com.au/attachments/localcontent/Unicore_Reference_Commands_Manual_For_N4_High_Precision_Products_V2_EN_R1_1_189543505cb.pdf Command reference]

== Software ==
The vendor offers [https://en.unicore.com/products/uprecise.html ''UPrecise''] to check all status details and configure the receiver. The UI is pleasing and has many features, but also quite some bugs. The download requires creating a free account.

== Configuration ==

=== Receiver ===
The following configuration works quite well. COM3 is used when connected via USB.<syntaxhighlight>
FRESET
CONFIG COM3 460800
MODE ROVER UAV
GPGGA 0.1
GPGSV 1
GPRMC 1
GPGSA 1
GPVTG 1
GPGST 1
SAVECONFIG
</syntaxhighlight>These lines can be pasted into ''UPrecise'' after connecting to the receiver. Theoretically, you can also connect directly to the receiver's TTY, but make sure to send CR+LF (<code>\r\n</code>) line endings, otherwise the commands won't be recognized.

=== OpenMower (<code>mower_config.txt</code>) ===
<syntaxhighlight lang="bash">
export OM_GPS_PROTOCOL="NMEA"
export OM_GPS_PORT="/dev/ttyUSB0"
export OM_GPS_BAUDRATE="460800"
</syntaxhighlight>

== Rebooting ==
Sometimes the receiver just can't get a fix. Then it might be helpful to reboot it. There are three buttons in ''UPrecise'', which execute these commands:
{| class="wikitable"
!Button
!Command
|-
|Hot Start
|<code>RESET</code>
|-
|Warm Start
|<code>RESET EPHEM</code>
|-
|Cold Start
|<code>RESET EPHEM ALMANAC IONUTC POSITION</code>
|}
See also section 8.3 ("Reset") in the [https://core-electronics.com.au/attachments/localcontent/Unicore_Reference_Commands_Manual_For_N4_High_Precision_Products_V2_EN_R1_1_189543505cb.pdf command reference]. In contrast to the <code>FRESET</code> command, these command '''don't''' wipe the configuration.

Unicore GPS Setup-UART

2025-06-08T12:17:56Z

Agr: Created page with "= Step-by step guide to setup UM9XX module. = Prerequisites: * Modified mower with replaced mainboard * Installed RPI with <code>openmower</code> service running. == Step 1. Solder headers on WM9XX and note which CAN line you choosen == <gallery> Wm9xx.png| WM9XX CAN </gallery> You only need 4 middle pins from 6 available: gnd, vcc, tx, rx. Remaining 2 '''not needed''': * EN - can be used to shut down the module temporarily * PPS is a pulse once per second, in case..."

= Step-by step guide to setup UM9XX module. =

Prerequisites:
* Modified mower with replaced mainboard
* Installed RPI with <code>openmower</code> service running.

== Step 1. Solder headers on WM9XX and note which CAN line you choosen ==
<gallery>
Wm9xx.png| WM9XX CAN
</gallery>

You only need 4 middle pins from 6 available: gnd, vcc, tx, rx.

Remaining 2 '''not needed''':
* EN - can be used to shut down the module temporarily
* PPS is a pulse once per second, in case you want to time something

== Step 2. Wire WM9XX to the mainboard ==
{| class="wikitable"
|+ Pinout
|-
! MainBoard !! UM9XX
|-
| TXD || TXD
|-
| RXD || RXD
|-
| 5V_IN || VCC
|-
| GND || GND
|}

<gallery>
UM9XX wiring - pinout.jpg| UM9XX wiring sample
Mainboard wiring.jpg| Mainboard wiring sample
</gallery>

== Step 3. Configure UM9XX over CAN ==

* Install miniterm (part of python3-serial)
<code>sudo apt-get install python3-serial</code>
* Stop openmower service (otherwise your CAN bus is already occupied)
<code>sudo systemctl stop openmower</code>
* Connect to the CAN bus with miniterm (because we wired directly to mainboard, CAN will be available on <code>/dev/ttyAMA1</code>, default baud rate is 115200 )

<syntaxhighlight lang="bash">
python -m serial.tools.miniterm /dev/ttyAMA1 115200 -e
</syntaxhighlight>

==== <div style="color: red"> ⚠ Next steps depend on which COM-line you wired headers ⚠ </div> ====

Following code samples assume you wired to bottom lane (COM1), if not, replace COM1 -> COM2

* Reset and configure Baud rate
FRESET⏎ Enter

<syntaxhighlight lang="bash">
openmower@openmower:~ $ python -m serial.tools.miniterm /dev/ttyAMA1 115200 -e
--- Miniterm on /dev/ttyAMA1 115200,8,N,1 ---
--- Quit: Ctrl+] | Menu: Ctrl+T | Help: Ctrl+T followed by Ctrl+H ---
FRESET
$command,FRESET,response: OK*4D
system is rebooting
..........
$devicename,COM1*67
</syntaxhighlight>

Execute

CONFIG COM1 460800⏎ Enter

Now exit miniterm via <code> Ctrl + ] </code>

Connect again to UM9x but with new/higher baud rate via:
<syntaxhighlight lang="bash">
python -m serial.tools.miniterm /dev/ttyAMA1 460800 -e
</syntaxhighlight>

'''Note''' if you are not receiving responces to your commands, something is wrong with baud-rate or COM port you are using, reconnect with default

With every "GP*" command your sent, you'll get spammed with more messages.
At the end it will become hard to recognize the "OK" from "SAVECONFIG", but it's mandatory that you ensure that "SAVECONFIG" got done!

MODE ROVER UAV ⏎ Enter
GPGSV COM1 2 ⏎ Enter
GPRMC COM1 1 ⏎ Enter
GPGSA COM1 1 ⏎ Enter
GPVTG COM1 1 ⏎ Enter
GPGGA COM1 0.5 ⏎ Enter
SAVECONFIG ⏎ Enter

Example of expected execution output

$GNGGA,192705.50,,,,,0,00,9999.0,,,,,,*45
$command,SAVECONFIG,response: OK*55
$GNGGA,192706.00,,,,,0,00,9999.0,,,,,,*43
$GPGSA,,1,,,,,,,,,,,,,,,,*73
$GNRMC,192706.00,V,,,,,,,030625,0.0,E,N,V*7B

exit miniterm via <code> Ctrl + ] </code>

== Step 4. Configure openmower ==

Update your <code>mower_config.txt</code>
<syntaxhighlight lang="bash">
export OM_GPS_PROTOCOL="NMEA"
export OM_GPS_BAUDRATE="460800"
</syntaxhighlight>

Start openmower service
<code>sudo systemctl start openmower</code>

<div style="color: green">
'''Done!'''
</div>
Assuming you already configured RTK base, you can bring mower outside and check if you are getting GPS FIX.

For support and assistance in troubleshooting [https://discord.com/channels/958476543846412329/1379531837273149470 join discord].

File:UM9XX wiring - pinout.jpg

2025-06-08T10:32:04Z

Agr:

UM9XX wiring / pinout

File:Mainboard wiring.jpg

2025-06-08T10:31:14Z

Agr:

mainboard pinout

File:Wm9xx.png

2025-06-08T10:18:27Z

Agr:

can settings