Trimble makes some nice stuff. I have written a converter to give my Ez150 GNSS RTK over TSIP. Now the 150 can live out its days on the lawnmower with cm precision and no RTK fees. Emlid to Ez 150 sucsess
That’s awesome, @PotatoFarmer! This was on my list of things to do but you’ve already done the hard work! I will be deploying this on my EZ Steer! Many thanks.
Also I want to do some sniffing of the TSIP that my 372 sends to the Nav II controller. Looks like you’ve already got a good way there. If handshaking is problematic, was thinking of just rewriting the data on serial and CAN from the 372 with RTK-fixed positions from the F9P. I’ve already used that technique with another GPS steering system (CAN bus).
Anyway looking forward too seeing some code. Or reading a complete description of what you did. I read your emlid forum thread.
Hello @torriem I have read your post as well, Mr. 1008 himself.
I spent much time reading on Combine Forum when I was first learning about RTK. Started a couple of years ago trying to get a Emlid M+ to work as a base station for the 750. In the process learned how to make Emlid Interface with EZ 150 in both TSIP and NMEA. My current converter for 150 works better than the original shipmodul does.
But you can also configure the NMEA of the F9P to work directly with the EZ150 as well. Anyone who kept their 150 is lucky.
But TSIP is not the same for all devices. I have recordings of 252 serial connection data. But to attempt to replicate it had me make the move to Ublox F9P to directly access the full variety ublox messages. But the 252 sends considerably different data than the EZ150 TSIP uses. But I am chipping away at the 252 one message at a time.
If I can get the 232 side working, Canbus data is next. Good to hear you have had some success at sending position data over CAN. Also want to see what Deere positions look like. So many things to try its hard to stay on task.
I have tried your 1008 injector, but winter has put a hold on a field test.
Though I have programmed extensively in Ladder Logic on PLC systems, I only started with Arduino’s and coding C at the end of October. But its much easier to learn it with an interesting project.
I used an Arduino Due to do my CAN bus work initially. It’s perfect for the job. I use this little shield: https://copperhilltech.com/dual-can-bus-interface-for-arduino-due/. The Due also supports super fast serial over USB (1 Mbit/s), which makes dumping the data to a computer easy. Now I’m using a Teensy 4.0 since it’s smaller, but the Due is definitely a great platform for doing analysis.
When analyzing CAN traffic I find it helpful to physically break the bus and then use the Due to bridge the traffic across the break, recording the direction as well as the raw data. Really helps to identify what messages are important based on where they are originating. I posted my bridging and logging code here.
John Deere uses industry-standard CAN PGNs for GPS position, at least on the old brown box systems. 65267 for GPS lat and lon, 65256 for heading and altitude. Other pieces of information including TCM data and the accuracy of the GPS fix are in proprietary, undocumented PGNs. I can make sense of a small fraction of the traffic. From what I can tell the receiver itself adjusts the lat and lon to compensate for the terrain, but the roll information is still sent to autotrac for whatever reason. The overall system is fairly complex and obviously undocumented publicly. It’s a bit odd but one message I found contains the ground speed as reported by the tractor in big endian. Normally CAN SPNs (the individual fields of data in a message) are little endian. That’s the CAN standard. Kind of hints that although John Deere develops slick technology, they are no Apple or Google! Plus I’m sure they didn’t think it mattered since it was all internal to their system.
I am a big fan of the DUE, will be looking into getting this CAN adapter for sure. On aliexpress ordered a due variant “DUE core” version which is half the original DUE board size. But recently blew all my fun money on parts for AG OPEN!
Been working with a Teensy 4.0 as well, its specs are insane for its size.
The Arduino Nano Every is actually really handy, If you run the MEGAcoreX board manager in Arduino IDE it gives you a second hardware UART. As well as unlocks much more functionality out of the rest of the pins.
Looks like our paths will be crossing a lot working on machine data integration. The Corporations make farmers out to be clueless about their equipment and how it works and using that as a reason to prevent us from making repairs due to greed. AOG project and forums like these have shown me that farmers are a lot smarter than they are portrayed.
I really wish I could become a full time Potato Farmer, but mostly help two other farmers with grain operations.
Once you use RTK in the field you cant go back to WAAS, Deere knows this. But a $15000 SF6000 + $1200/year subscription seems a tad like robbery, especially when a ublox F9P is $300.
I am sure a lot would like to continue with the EZ250 or 500. they are well made and take up very little cab space.
A sales person told me that the trade in units are shipped back to the manufacturer, so i can almost guarantee they are getting crushed.
Thank you for the tablet recommendation. I have also been eyeing up the PIPO X4, its IP67 with a rJ45 and DB9 serial port in that $500CDN area. My tractor is open station so the poor tablet will have to be able to take some rain.