About zubax_gnss_fw_v1_v2.msi software


#1

Hi Pavel,
I want to know Zubax_gnss_fw_v1_v2.msi GNSS FW V1 Zubax_gnss_fw_v1_v2.msi signed with Signed_with_bootloader.bin is used to burn to Zubax_gnss GNSS module of MCU or burn to my Px4 master inside?

When I use the zubax_gnss module, the Px4 master of my bootloader is directly using bootloader on PX4 GitHub?

I use the stable version of the px4fmu-v2_default.px4 firmware.

Depending on your site, Pixhawk with PX4 firmware Configuring, why do I have the zubax_gnss module successfully configured to be successful?

thank you,
Joey.


(Pavel Kirienko) #2

Hi Joey,

The update software you referred to is supposed to be used on Zubax GNSS, it does not have any relation to PX4.

If you want to update the firmware via PX4’s bootloader, please follow this guide: dev.px4.io/uavcan-node-firmware. … -px4-romfs

Prebuilt binaries are available here: files.zubax.com/products/com.zubax.gnss/ (you’re looking for those that are prefixed with “com.zubax.gnss-1.0-2.0.”)
Binaries with extension *.uavcan.bin are suitable for UAVCAN bootloading (e.g. via PX4 as described above)
Binaries with extension *.compound.bin are suitable for direct flashing e.g. via Zubax Serial Updater.

Pavel.


#3

The flight control board written version of the px4fmu-v2_default.px4 firmware is stable

I use the serial updater zubax software to write the zubax_gnss_fw_v2.bin firmware

The information of the USART1 module of the zubax_gnss module is as follows:
ChibiOS/RT Shell
ch> Mag self test sample, positive, x/y/z: 257 244 257
Mag self test sample, negative, x/y/z: -253 -246 -251
CAN bit rate is fixed at 1000000 bps
GNSS init…
ublox: Trying baudrate 9600…
ublox: Trying baudrate 115200…
CAN bit rate is fixed at 1000000 bps
ublox: Trying baudrate 57600…
ublox: Trying baudrate 38400…
ublox: Baudrate match 38400
ublox: MON-GNSS supported=7 default=3 enabled=5 simultaneous=2
CAN bit rate is fixed at 1000000 bps
CAN bit rate is fixed at 1000000 bps
CAN bit rate is fixed at 1000000 bps
CAN bit rate is fixed at 1000000 bps
CAN bit rate is fixed at 1000000 bps
CAN bit rate is fixed at 1000000 bps
CAN bit rate is fixed at 1000000 bps
CAN bit rate is fixed at 1000000 bps

NSH print information:
nsh> uavcan status
ESC actuators control groups: sub: 0 / req: 0 / fds: 2
ESC mixer: NONE
Sensor ‘gnss’:
RX errors: 0, receiver node id: N/A

Sensor ‘mag’:
devname: /dev/mag
channel 0: empty
channel 1: empty
channel 2: empty
channel 3: empty
channel 4: empty

Sensor ‘baro’:
devname: /dev/baro
channel 0: empty
channel 1: empty
channel 2: empty
channel 3: empty
channel 4: empty

Zubax_gnss module just on power, CAN USB debugger print information:
0x10015501 0x00 0x00 0x00 0x00 0x08 0x00 0x00 0xc0 0x08 Extended Data
0x10015501 0x01 0x00 0x00 0x00 0x00 0x00 0x00 0xc1 0x08 Extended Data
0x1e648500 0x01 0x35 0xff 0xda 0x05 0x46 0x4e 0xc0 0x08 Extended Data
0x10015501 0x02 0x00 0x00 0x00 0x00 0x00 0x00 0xc2 0x08 Extended Data
0x1e000101 0x00 0x35 0xff 0xda 0x05 0x46 0x4e 0xc0 0x08 Extended Data
0x1e648500 0x00 0x34 0x34 0x43 0x58 0x17 0x43 0xc1 0x08 Extended Data
0x1e000101 0xeb 0x75 0x00 0x35 0xff 0xda 0x05 0x81 0x08 Extended Data
0x1e000101 0x46 0x4e 0x34 0x34 0x43 0x58 0x17 0x21 0x08 Extended Data
0x1e000101 0x43 0x41 0x00 0x00 0x00 0x00 0x00 0x00 0x02 Extended Data
0x1e648500 0x00 0x00 0x00 0x00 0x00 0xc2 0x00 0x00 0x06 Extended Data
0x1e000101 0x2b 0xa2 0xfa 0x35 0xff 0xda 0x05 0x82 0x08 Extended Data
0x1e000101 0x46 0x4e 0x34 0x34 0x43 0x58 0x17 0x22 0x08 Extended Data
0x1e000101 0x43 0x00 0x00 0x00 0x00 0x42 0x00 0x00 0x06 Extended Data
0x10015501 0x03 0x00 0x00 0x00 0x00 0x00 0x00 0xc3 0x08 Extended Data
0x1e01557d 0x01 0x00 0x00 0x00 0x08 0x00 0x00 0xc0 0x08 Extended Data
0x1e01fd81 0xc0 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x01 Extended Data
0x1e0101fd 0xf8 0x1e 0x01 0x00 0x00 0x00 0x08 0x80 0x08 Extended Data
0x1e0101fd 0x00 0x00 0x01 0x00 0x03 0x8f 0x3e 0x20 0x08 Extended Data
0x1e0101fd 0x4a 0x05 0xe1 0xec 0xb8 0x38 0x21 0x00 0x08 Extended Data
0x1e0101fd 0xbd 0x65 0xf0 0x01 0x00 0x35 0xff 0x20 0x08 Extended Data
0x1e0101fd 0xda 0x05 0x46 0x4e 0x34 0x34 0x43 0x00 0x08 Extended Data
0x1e0101fd 0x58 0x17 0x43 0x00 0x00 0x00 0x00 0x20 0x08 Extended Data
0x1e0101fd 0x00 0x63 0x6f 0x6d 0x2e 0x7a 0x75 0x00 0x08 Extended Data
0x1e0101fd 0x62 0x61 0x78 0x2e 0x67 0x6e 0x73 0x20 0x08 Extended Data
0x1e0101fd 0x73 0x40 0x00 0x00 0x00 0x00 0x00 0x00 0x02 Extended Data
0x10015501 0x04 0x00 0x00 0x00 0x00 0x00 0x00 0xc4 0x08 Extended Data
0x1e01557d 0x02 0x00 0x00 0x00 0x08 0x00 0x00 0xc1 0x08 Extended Data
0x10015501 0x05 0x00 0x00 0x00 0x00 0x00 0x00 0xc5 0x08 Extended Data
0x1e01557d 0x03 0x00 0x00 0x00 0x08 0x00 0x00 0xc2 0x08 Extended Data
0x1e01557d 0x03 0x00 0x00 0x00 0x08 0x00 0x00 0xc3 0x08 Extended Data
0x10015501 0x06 0x00 0x00 0x00 0x00 0x00 0x00 0xc6 0x08 Extended Data
0x1e01557d 0x04 0x00 0x00 0x00 0x08 0x00 0x00 0xc4 0x08 Extended Data
0x10015501 0x07 0x00 0x00 0x00 0x00 0x00 0x00 0xc7 0x08 Extended Data
0x1e01557d 0x05 0x00 0x00 0x00 0x08 0x00 0x00 0xc5 0x08 Extended Data
0x10015501 0x08 0x00 0x00 0x00 0x00 0x00 0x00 0xc8 0x08 Extended Data
0x1e01557d 0x06 0x00 0x00 0x00 0x08 0x00 0x00 0xc6 0x08 Extended Data
0x10015501 0x09 0x00 0x00 0x00 0x00 0x00 0x00 0xc9 0x08 Extended Data
0x10015501 0x0a 0x00 0x00 0x00 0x00 0x00 0x00 0xca 0x08 Extended Data
0x10015501 0x0b 0x00 0x00 0x00 0x00 0x00 0x00 0xcb 0x08 Extended Data
0x10015501 0x0c 0x00 0x00 0x00 0x00 0x00 0x00 0xcc 0x08 Extended Data
0x10015501 0x0d 0x00 0x00 0x00 0x00 0x00 0x00 0xcd 0x08 Extended Data
0x10015501 0x0e 0x00 0x00 0x00 0x00 0x00 0x00 0xce 0x08 Extended Data
0x10015501 0x0f 0x00 0x00 0x00 0x00 0x00 0x00 0xcf 0x08 Extended Data
0x10015501 0x10 0x00 0x00 0x00 0x00 0x00 0x00 0xd0 0x08 Extended Data
0x10015501 0x11 0x00 0x00 0x00 0x00 0x00 0x00 0xd1 0x08 Extended Data
0x10015501 0x12 0x00 0x00 0x00 0x00 0x00 0x00 0xd2 0x08 Extended Data

Thanks,
Joey.


(Pavel Kirienko) #4

Hi Joey,

Could you please flash this binary: files.zubax.com/products/com.zubax.gnss/debug
then check if the problem persists, and if it does, post UART and CAN logs here again? Both logs should be collected simultaneously if possible.


#5

Hi Pavel,

USART1 output information:
Watchdog: Reset was not caused by watchdog, it’s OK
Config: Initializing defaults - Layout mismatch
Air sensor disabled
Watchdog: Global timeout set to 1000 ms
Watchdog: Global timeout set to 1100 ms

ChibiOS/RT Shell
ch> Mag self test sample, positive, x/y/z: 259 245 257
Mag self test sample, negative, x/y/z: -254 -245 -253
Could not init CAN; status: -1, autodetect: 0, bitrate: 1000000
GNSS init…
ublox: Trying baudrate 9600…
ublox: Trying baudrate 115200…
ublox: Trying baudrate 57600…
ublox: Trying baudrate 38400…
ublox: Baudrate match 38400
Could not init CAN; status: -1, autodetect: 0, bitrate: 1000000
ublox: MON-GNSS supported=7 default=3 enabled=5 simultaneous=2
Could not init CAN; status: -1, autodetect: 0, bitrate: 1000000
Could not init CAN; status: -1, autodetect: 0, bitrate: 1000000
Could not init CAN; status: -1, autodetect: 0, bitrate: 1000000

CAN output information:
0x10015501 0x00 0x00 0x00 0x00 0x08 0x00 0x00 0xc0 0x08 Extended Data
0x10015501 0x01 0x00 0x00 0x00 0x00 0x00 0x00 0xc1 0x08 Extended Data
0x10015501 0x02 0x00 0x00 0x00 0x00 0x00 0x00 0xc2 0x08 Extended Data
0x10015501 0x03 0x00 0x00 0x00 0x00 0x00 0x00 0xc3 0x08 Extended Data
0x1e8d7d00 0x01 0x35 0xff 0xda 0x05 0x46 0x4e 0xc0 0x08 Extended Data
0x1e000101 0x00 0x35 0xff 0xda 0x05 0x46 0x4e 0xc0 0x08 Extended Data
0x10015501 0x04 0x00 0x00 0x00 0x00 0x00 0x00 0xc4 0x08 Extended Data
0x1e8d7d00 0x00 0x34 0x34 0x43 0x58 0x17 0x43 0xc1 0x08 Extended Data
0x1e000101 0xeb 0x75 0x00 0x35 0xff 0xda 0x05 0x81 0x08 Extended Data
0x1e000101 0x46 0x4e 0x34 0x34 0x43 0x58 0x17 0x21 0x08 Extended Data
0x1e000101 0x43 0x41 0x00 0x00 0x00 0x00 0x00 0x00 0x02 Extended Data
0x1e8d7d00 0x00 0x00 0x00 0x00 0x00 0xc2 0x00 0x00 0x06 Extended Data
0x1e000101 0x2b 0xa2 0xfa 0x35 0xff 0xda 0x05 0x82 0x08 Extended Data
0x1e000101 0x46 0x4e 0x34 0x34 0x43 0x58 0x17 0x22 0x08 Extended Data
0x1e000101 0x43 0x00 0x00 0x00 0x00 0x42 0x00 0x00 0x06 Extended Data
0x10015501 0x05 0x00 0x00 0x00 0x00 0x00 0x00 0xc5 0x08 Extended Data
0x1e01557d 0x00 0x00 0x00 0x00 0x08 0x00 0x00 0xc0 0x08 Extended Data
0x1e01fd81 0xc0 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x01 Extended Data
0x1e0101fd 0xb3 0xeb 0x00 0x00 0x00 0x00 0x08 0x80 0x08 Extended Data
0x1e0101fd 0x00 0x00 0x02 0x00 0x03 0xe6 0x66 0x20 0x08 Extended Data
0x1e0101fd 0xe4 0x00 0xd1 0x21 0x18 0x12 0x69 0x00 0x08 Extended Data
0x1e0101fd 0x6f 0x50 0x40 0x01 0x00 0x35 0xff 0x20 0x08 Extended Data
0x1e0101fd 0xda 0x05 0x46 0x4e 0x34 0x34 0x43 0x00 0x08 Extended Data
0x1e0101fd 0x58 0x17 0x43 0x00 0x00 0x00 0x00 0x20 0x08 Extended Data
0x1e0101fd 0x00 0x63 0x6f 0x6d 0x2e 0x7a 0x75 0x00 0x08 Extended Data
0x1e0101fd 0x62 0x61 0x78 0x2e 0x67 0x6e 0x73 0x20 0x08 Extended Data
0x1e0101fd 0x73 0x40 0x00 0x00 0x00 0x00 0x00 0x00 0x02 Extended Data
0x1e01557d 0x01 0x00 0x00 0x00 0x08 0x00 0x00 0xc1 0x08 Extended Data
0x10015501 0x06 0x00 0x00 0x00 0x00 0x00 0x00 0xc6 0x08 Extended Data
0x1e01557d 0x02 0x00 0x00 0x00 0x08 0x00 0x00 0xc2 0x08 Extended Data
0x10015501 0x07 0x00 0x00 0x00 0x00 0x00 0x00 0xc7 0x08 Extended Data
0x1e01557d 0x03 0x00 0x00 0x00 0x08 0x00 0x00 0xc3 0x08 Extended Data
0x10015501 0x08 0x00 0x00 0x00 0x00 0x00 0x00 0xc8 0x08 Extended Data
0x1e01557d 0x04 0x00 0x00 0x00 0x08 0x00 0x00 0xc4 0x08 Extended Data
0x10015501 0x09 0x00 0x00 0x00 0x00 0x00 0x00 0xc9 0x08 Extended Data
0x1e01557d 0x04 0x00 0x00 0x00 0x08 0x00 0x00 0xc5 0x08 Extended Data
0x1e01557d 0x05 0x00 0x00 0x00 0x08 0x00 0x00 0xc6 0x08 Extended Data
0x10015501 0x0a 0x00 0x00 0x00 0x00 0x00 0x00 0xca 0x08 Extended Data
0x10015501 0x0b 0x00 0x00 0x00 0x00 0x00 0x00 0xcb 0x08 Extended Data
0x10015501 0x0c 0x00 0x00 0x00 0x00 0x00 0x00 0xcc 0x08 Extended Data
0x10015501 0x0d 0x00 0x00 0x00 0x00 0x00 0x00 0xcd 0x08 Extended Data

Thanks,
Joey.


(Pavel Kirienko) #6

Thanks! It looks like your CAN2 is broken. Has the board been damaged?

Please flash this image and repeat the test again to be sure: files.zubax.com/products/com.zu … mpound.bin


#7

Hi Pavel,

I just use the CAN1, is the need to put two CAN ports are connected?

Thanks,
Joey.


(Pavel Kirienko) #8

It is of course not necessary to use CAN2, but the board will refuse to initialize CAN if either interface is broken. I would suggest you to test the firmware I linked above so that we could be sure that the second interface is indeed damaged, and if it is, you could just, for example, remove its driver IC, or I could prepare a special-purpose firmware for you that will ignore the second interface.


#9

Yes, I found the problem, because the CAN2 port is not connected.

I was a beginner, I would like to study your this open source module.

Can you send me a copy of the source code can be compiled?

My mail: janxianxian@yahoo.com

Thank you very much!

Joey.


(Pavel Kirienko) #10

It should not be necessary to connect CAN2. Your hardware is likely damaged.

You can find the firmware sources here: github.com/Zubax/zubax_gnss/tree/release_2.0