Zubax GNSS

Zubax GNSS 2 is a multipurpose high-performance positioning module interfaced via CAN bus, USB, and UART. It includes a state-of-the-art multi-system GPS/GLONASS receiver, a high-precision barometric altimeter, and a 3-axis compass with thermal compensation. Zubax GNSS 2 supports variety of standard protocols, which ensures compatibility with most of existing software and hardware: UAVCAN (over CAN bus), NMEA 0183 (over USB and UART), and u-Blox M8 protocol.

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Revisions

The following table documents existing modifications of Zubax GNSS hardware and compatible firmware versions.

Each firmware version has a dedicated branch named release_X.X, where X.X stands for the version number. Please check out the corresponding branch to see instructions specific for your firmware version. Master branch always contains the newest version of firmware and it may be unstable.

Getting the bootloader

The bootloader image is conveniently included in this repository as bootloader.bin. It can be built using the target zubaxgnss-v1_bootloader of https://github.com/Zubax/PX4Firmware (branch nuttx_next).

In future the bootloader will be extracted into a separate project.

The bootloader can be flashed either independently, or as a combined image together with the application (see below).

Building the firmware

• Install ARM GCC toolchain version 4.9 or newer
• Init the sources:

git submodule update --init --recursive

• Build:

cd firmware
make binaries RELEASE=1 # RELEASE is optional; omit to build the debug version

The steps above will produce the following outputs in the build output directory:

• com.zubax.*.uavcan.bin - application binary suitable for UAVCAN bootloading, with correct image CRC.
• com.zubax.*.compound.bin - above image combined with the bootloader; can be flashed on an empty MCU.
• compound.elf - ELF file with embedded bootloader and correct image CRC; can be used for symbol debugging. Since this ELF includes the bootloader and has correct image CRC, it can be flashed and executed directly with an SWD debugger, no extra steps required.

Loading the firmware

Using in-circuit debuggers

Avialable loaders:

cd ./zubax_chibios/tools

./blackmagic_flash.sh   # Black Magic Debug Probe
./stlink_flash.sh       # ST-Link v2

Using UAVCAN bootloader

Feed the signed binary (it will be named as *.uavcan.bin) to the UAVCAN firmware update server. For example, see these instructions for PX4: http://dev.px4.io/uavcan-node-firmware.html.

Source of the UAVCAN bootloader for this board can be found at the PX4 source repository.

License

The firmware is licensed under the terms of GNU GPL v3.

Copyright (C) 2015 Zubax Robotics [email protected]

This program is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version.

This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.

You should have received a copy of the GNU General Public License along with this program. If not, see http://www.gnu.org/licenses/.