Unicore GPS Setup-UART - Revision history

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

2025-06-08T20:44:56Z

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

← Older revision	Revision as of 20:44, 8 June 2025
(No difference)

Agr at 20:42, 8 June 2025

2025-06-08T20:42:20Z

← Older revision		Revision as of 20:42, 8 June 2025
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	</syntaxhighlight>		</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		'''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.

	~~With~~ every "GP*" command your sent, you'll get spammed with more messages.		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!		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		MODE ROVER UAV ⏎ Enter
	GPGSV COM1 2 ⏎ Enter		GPGSV COM1 2 ⏎ Enter

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

2025-06-08T20:40:48Z

Step 3. Configure UM9XX over UART

← Older revision		Revision as of 20:40, 8 June 2025
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	* Install miniterm (part of python3-serial)		* Install miniterm (part of python3-serial)
	<code>sudo apt-get install python3-serial</code>		<code>sudo apt-get install python3-serial</code>
	* Stop openmower service (otherwise your ~~CAN~~ bus is already occupied)		* Stop openmower service (otherwise your UART bus is already occupied)
	<code>sudo systemctl stop openmower</code>		<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 )		* 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 )

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

2025-06-08T20:39:53Z

Step 1. Solder headers on WM9XX and note which UART line you choosen

← Older revision		Revision as of 20:39, 8 June 2025
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	== Step 1. Solder headers on WM9XX and note which UART line you choosen ==		== Step 1. Solder headers on WM9XX and note which UART line you choosen ==
	<gallery mode="packed" widths="400" heights="400">		<gallery mode="packed" widths="400" heights="400">
	File:Wm9xx.png\|WM9XX ~~CAN~~		File:Wm9xx.png\|WM9XX
	</gallery>		</gallery>

Agr at 20:36, 8 June 2025

2025-06-08T20:36:08Z

← Older revision		Revision as of 20:36, 8 June 2025
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	* Installed RPI with <code>openmower</code> service running.		* Installed RPI with <code>openmower</code> service running.

	== Step 1. Solder headers on WM9XX and note which ~~CAN~~ line you choosen ==		== Step 1. Solder headers on WM9XX and note which UART line you choosen ==
	<gallery mode="packed" widths=400 heights=400>		<gallery mode="packed" widths="400" heights="400">
	File:Wm9xx.png\|WM9XX CAN		File:Wm9xx.png\|WM9XX CAN
	</gallery>		</gallery>
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	== Step 2. Wire WM9XX to the mainboard ==		== 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"		{\| class="wikitable"
	\|+ Pinout		\|+ Pinout
Line 33:		Line 36:
	\|}		\|}

	<gallery mode="packed" widths=400 heights=400>		<gallery mode="packed" widths="400" heights="400">
	File:UM9XX wiring - pinout.jpg\| UM9XX wiring sample		File:UM9XX wiring - pinout.jpg\| UM9XX wiring sample
	File:Mainboard wiring.jpg\| Mainboard wiring sample		File:Mainboard wiring.jpg\| Mainboard wiring sample
Line 40:		Line 43:


	== Step 3. Configure UM9XX over ~~CAN~~ ==		== Step 3. Configure UM9XX over UART ==

	* Install miniterm (part of python3-serial)		* Install miniterm (part of python3-serial)
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	==== <div style="color: red"> ⚠ Next steps depend on which ~~COM~~-line you wired headers ⚠ </div> ====		==== <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		Following code samples assume you wired to bottom lane (COM1), if not, replace COM1 -> COM2

Agr at 12:54, 8 June 2025

2025-06-08T12:54:34Z

← Older revision		Revision as of 12:54, 8 June 2025
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	== Step 1. Solder headers on WM9XX and note which CAN line you choosen ==		== Step 1. Solder headers on WM9XX and note which CAN line you choosen ==
	<gallery mode="~~slideshow~~">		<gallery mode="packed" widths=400 heights=400>
	File:Wm9xx.png\|WM9XX CAN		File:Wm9xx.png\|WM9XX CAN
	</gallery>		</gallery>
Line 33:		Line 33:
	\|}		\|}

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

Agr at 12:46, 8 June 2025

2025-06-08T12:46:10Z

← Older revision		Revision as of 12:46, 8 June 2025
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	== Step 1. Solder headers on WM9XX and note which CAN line you choosen ==		== Step 1. Solder headers on WM9XX and note which CAN line you choosen ==
	<gallery mode="slideshow">		<gallery mode="slideshow">
	~~File:Index.php?title=File:Wm9xx.png\|link=~~File:Wm9xx.png\|WM9XX CAN		File:Wm9xx.png\|WM9XX CAN
	</gallery>		</gallery>

Agr at 12:45, 8 June 2025

2025-06-08T12:45:06Z

← Older revision		Revision as of 12:45, 8 June 2025
Line 6:		Line 6:

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

Agr at 12:44, 8 June 2025

2025-06-08T12:44:15Z

← Older revision		Revision as of 12:44, 8 June 2025
Line 7:		Line 7:
	== Step 1. Solder headers on WM9XX and note which CAN line you choosen ==		== Step 1. Solder headers on WM9XX and note which CAN line you choosen ==
	<gallery>		<gallery>
	Wm9xx.png\| WM9XX CAN		File:Wm9xx.png\| WM9XX CAN
	</gallery>		</gallery>

Line 34:		Line 34:

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

Agr: Created page with "= Step-by step guide to setup UM9XX module. = Prerequisites: * Modified mower with replaced mainboard * Installed RPI with `openmower` service running. == Step 1. Solder headers on WM9XX and note which CAN line you choosen == Wm9xx.png| WM9XX CAN 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..."

2025-06-08T12:17:56Z

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..."

New page

= 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].