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gps firmware a1037-a a description of the standard gps firm ware provided on ty co electronics? gps modules a1037-a user?s manual version 2.0 softw a re revision 4.30
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revision history revisio n history r e v . d a t e d e s c r i p t i o n 0 . 1 0 3 - 2 9 - 0 6 preliminary v e r s i o n 1.1 08-10-06 valid for x1037-a wor k ing on gps-lib.:4.23.05 1.2 11-02-06 valid for a1037-a wor k ing on gps-lib.: 4.30.3plus 2 . 0 0 4 - 0 1 - 0 7 new des i g n m m - d d - y y v2.0 ? 04/07 user?s manual page 3 of 43
disclaimer disclaimer this document contains propriet ary info rmation of tyco elec- tronics corporation/pow er systems (tyco elect r onics). it may not be copied or transmitted by any means, passed to others, or stored in any retrieval s ystem or media, w i thout prior conse n t of tyco electro n ics or its aut h orized agents. the inf o rmation in thi s document is, to the best o f our knowledge, entirely correct. however, tyco el ectroni c s can neithe r accep t liability fo r any inaccuracies, or th e consequences t h ereof, nor for any liability ari s ing from the use or application of any circui t, product, or example shown in the document. the product (ha rd- an d software) des c ribed in t h is documen- tation is not author ized for use in life suppo rt devices or syst ems without the express wri tten approval of tyco elec- tronics. this document may provi d e links to other world wide web site s or reso urces. because t y co elec tronics has no control over such sites and resources, tyco elect r onics shal l not be responsible for the availabili ty of such exte rnal sites or resources, and does not endorse and is not responsible or liable f o r any content, adve rtising, products, or other material s on or availa bl e from s uch site s or res o urce s. tyco electro n ics shall not be respo ns ible or liable, directl y or indirect ly, for any dam a ge or loss ca use d or allege d to be caused by or in conne ct ion with u se of or reliance on any such content, goods or servi ces avai labl e on or through any such site or resource. tyco el ectroni c s reserves the right to change, m o dify, or improve this document or the product des crib e d herei n , as seen fit by tyco electro n ic s without further notice. page 4 of 43 user?s manual v2.0 - 04/07
table of contents table of contents 1 introducti on ............................................................................................................ 7 1.1 general ............................................................................................................... 7 1.2 serial port configuration ..................................................................................... 7 2 standard nmea sentences ................................................................................... 8 2.1 introduction ......................................................................................................... 8 2.2 supported nmea sentences .............................................................................. 8 2.2.1 gga - global positioning system fix data .................................................................. 9 2.2.2 vtg ? course over ground and ground speed ....................................................... 10 2.2.3 rmc - recommen ded minimu m specific gps data ................................................. 11 2.2.4 gsa - gps dop and active satellites ....................................................................... 12 2.2.5 gsv ? gps satellites in view .................................................................................... 13 3 proprietary sentences .......................................................................................... 14 3.1 introduction ....................................................................................................... 14 3.2 nmea sentence handli ng and baud rate set-up ............................................ 14 3.3 start-up support ................................................................................................ 15 3.3.1 avoiding cold start behavior ...................................................................................... 16 3.3.1.1 dump ephemeri s .................................................................................................................... 16 3.3.1.2 load epheme r is ..................................................................................................................... 17 3.3.1.3 dump almanacs ..................................................................................................................... 17 3.3.1.4 load almana cs ....................................................................................................................... 18 3.3.2 cold start .................................................................................................................... 18 3.3.3 warm start ................................................................................................................. 18 3.3.4 hot start ..................................................................................................................... 18 3.4 version information ........................................................................................... 19 3.5 support of sbas (satellite ba sed augme n tation systems) .............................. 19 3.5.1 enabling sbas su pport .............................................................................................. 20 3.5.2 toggle sbas supp ort ................................................................................................. 20 3.5.3 choose sbas satellite ............................................................................................... 20 3.6 sw-reset .......................................................................................................... 20 4 related information .............................................................................................. 21 4.1 contact .............................................................................................................. 21 4.2 related documents ........................................................................................... 21 5 list of tables ........................................................................................................ 22 appendix c: uart-c ommands reference ............................................................. 23 pstmalm anac ..................................................................................................... 24 pstmcol d ............................................................................................................ 25 pstmdum palmanac .......................................................................................... 26 pstmdum pephems ............................................................................................ 27 pstmephem ......................................................................................................... 28 pstmgpsreset ................................................................................................... 29 pstmgpsrest art .............................................................................................. 30 v2.0 ? 04/07 user?s manual page 5 of 43
table of contents page 6 of 43 user?s manual v2.0 - 04/07 pstmhot .............................................................................................................. 31 pstminforead .................................................................................................... 32 pstminitgps ........................................................................................................ 33 pstmneaconfig ................................................................................................. 34 pstmnmeaonoff ............................................................................................... 35 pstmrmc .............................................................................................................. 36 pstmsbasonoff ................................................................................................ 37 pstmsbassat ..................................................................................................... 38 pstmsbasstart ................................................................................................. 39 pstmsrr .............................................................................................................. 40 pstmstby ............................................................................................................. 41 pstmstop ............................................................................................................ 42 pstmwarm ........................................................................................................... 43
gps recei ver firmw a re a1037 1 introduction 1.1 general this document contains a detailed descr iption of tyco elec tronics ? standard gps firmware used in the gps modules a1037- a. the purpos e of this paper is the explanat ion of the behavior of the ?nmea? inter- face, i.e. a description of the outputs comi ng from this interfac e, and a summary of the commands that can be iss ued to this interface. th is will allow easy and full adjustment and control of the module. 1.2 serial port configuration the firmware supports the bi-directional seri al interface of tyco electronics? gps module. it i s implemented by use of the full duplex uart (universal asynchr onous receiv er transmitter) interf ace of the gps processor. ? for the communication with uart the use of a kind of terminal program or another appropriate method is necessary. ? uart com m unication is always on port 0 (pin tx0 and rx0) of the module ? the default configuration of this se rial port is: 4800 baud, 8 data bits, no parity, 1 stop bit, no fl ow control! using pin p0.13 two different set of g ps nmea out messages with two different baud rates can be selected. conf (p0.13) nmea mes sages set default leave unconnected / external pull-up nmea: gga ? vtg ? gsa ? gsv baud rate: 4800 transmit mo de: on utc second x external pull-down nmea: gga ? gsa ? gsv - rmc ? tg ?ts - pa baud rate: 57600 transmit mo de: on utc second table 1: nmea configuration this pin will be read by the software during the gps software start-up only. an y changes in the setting afterwards wil l not affect the confi guration. this interface is bi-directional, i.e. on the one side the output of the gps modules (nmea sentences, etc.) is sent to the uart interface, on the other side the uart interface can be used to send commands to tyco electronics? gps modules. v2.0 ? 04/07 user?s manual page 7 of 43
gps recei ver firmw a re a1037 2 s t andard nmea sentences 2.1 introduct i on the n ation a l m arine e lectronics a ssociation created a uniform interface standard for digital data exchange between different marine electronic products back in the early ninet een-eighties. ? nmea information is transmitted from a ?vendor? in ?sent ences? with a maximum length of 80 characters. ? the general format is: ?$*?. ? the combination of is calle d address field. ? the vendor code for the global positioning system is ?gp?. ? in this document nmea sentences refer to the nmea 0183 standard. for details see: http://www.nmea.org http://www.nmea.or g/pub/inde x.html for an introduction into gps nmea sentences see: http://home.mira.net/~gnb/gps/nmea.html 2.2 supported nmea sentences the tyco electronics? gps firmware currentl y supports 6 nmea sentences: ? $gpgga ( default: on) ? $gpvtg (default: on) ? $gprmc (default: off) ? $gpgsa (default: on) ? $gpgsv (default: on) the sentences that are switched on are tr ansmitted with an update rate of 1/s. the following paragraphs give an over view of nmea messages wit h example strings and short explanation. page 8 of 43 user?s manual v2.0 - 04/07
gps recei ver firmw a re a1037 2.2.1 gga - gl obal posi tioning sy stem fix data e.g. $gpgga,152145.000,4805.819 31,n,01132.23172,e,1,04,2.5,607.75 ,m,47.6,m,,*67 (1) $gpgga vendor and message id entifier (2) 152145.000 universal time coordinated (15h 21m 45.000s) (3) 4805.81931 latitude (48 deg 05.8193 1min) (4) n north (or s for south) (5) 01132.23172 longitude (0 11deg 32.23 172min) (6) e east (or w for west) ( 7 ) 1 fix quality: gps fix valid (or 0 for fix not available or 2 for differential f i x, also when sbas data are used) (8) 04 four satellit es in view (min 00, max 12) (9) 2.5 horizontal dilution of pre c ision (10) 0607.75 antenna altit ude above/below mean sea level (g eoid) (11) m unit of antenna altitude: meters ( 1 2 ) 4 7 . 6 geoidal sep a r a t i o n (13) m unit of geoidal separation: meters (14) age of differential gps data, null fie l d when dgps is not used (15) differential r e ference sta t ion id, null f i eld when dgps is not used ( 1 6 ) * 6 7 checksum table 2: gga example and description v2.0 ? 04/07 user?s manual page 9 of 43
gps recei ver firmw a re a1037 2.2.2 vtg ? course over gr ound and ground speed e.g. $gpvt g,169.3,t,,m,0.3,n,0.5, k *6b (1) $gpvt g vendor and message id entifier ( 2 ) 1 6 9 . 3 track degre e s ( 3 ) t t r u e (4) track degre e s (not supp orted) (5) m magnetic (not supported ) ( 6 ) 0 . 3 speed [knot s ] ( 7 ) n k n o t s (8) 0.5 speed [kilo meters per hour] (9) k kilometers per hour ( 1 0 ) * 6 b checksum table 3: vtg example and description page 10 of 43 user?s manual v2.0 - 04/07
gps recei ver firmw a re a1037 2.2.3 rmc - recommended mi nim u m speci f ic gps data e.g. $gprmc,092516.000,a,4805.8021,n,01132.2243,e,1.9,183.8,270 302,0.0,w*7b (1) $gprmc vendor and message id entifier (2) 092516.000 utc - unive r sal time coordinated ( 09h 25m 16.000s) (3) a fix valid (or v for invalid or no fix) (4) 4805.8021 latitude (48 deg 05.8021 min) (5) n north (or s for south) (6) 01132.2243 longitude (0 11deg 32.22 43min) (7) e east (or w for west) (8) 1.9 speed over ground in kn ots (9) 183.8 track made good, degrees true (10) 270302 date (ddmmyy ? 27 th ma rch 2002) (11) 0.0 magnetic variation, degr ees (12) w west (or e for east) ( 1 3 ) * 7 b checksum table 4: rmc example and description v2.0 ? 04/07 user?s manual page 11 of 43
gps recei ver firmw a re a1037 2.2.4 gsa - gps dop and active satellites e.g. $gpgsa,a,3,03,20,14,31,,,,,,,,,3 .7,2.5,2.8*3d (1) $gpgsa vendor and message id entifier ( 2 ) a selection mode ( 3 ) 3 mode (4) 03 id of 1 st sat e llite used f o r fix (5) 20 id of 2 nd sat e llite used f o r fix (6) 14 id of 3 rd sat e llite used f o r fix (7) 31 id of 4 th satellite used f o r fix (8) id of 5 th satellite used f o r fix (9) id of 6 th satellite used f o r fix (10) id of 7 th satellite used f o r fix (11) id of 8 th satellite used f o r fix (12) id of 9 th satellite used f o r fix (13) id of 10 th satellite used f o r fix (14) id of 11 th satellite used f o r fix (15) id of 12 th satellite used f o r fix (16) 3.7 pdop in me ters (17) 2.5 hdop in meters (18) 2.8 vdop in me ters ( 1 9 ) * 3 d checksum table 5: gsa example and description page 12 of 43 user?s manual v2.0 - 04/07
gps recei ver firmw a re a1037 2.2.5 gsv ? gps satellites in view e.g. $gpgsv,1,1,04,03,27,159,45,1 4 ,43,095,48, 20,17,231,4 0 ,31,60,190, 42*7f (1) $gpgsv vendor and message id entifier (2) 1 total numbers of messa ges (3) 1 number of current message ( 4 ) 0 4 satellites i n v i e w ( 5 ) 0 3 satellite nu m b e r (6) 27 elevation in degrees (7) 159 azimuth in degrees to tr ue (8) 45 snr in db ( 9 ) 1 4 satellite nu m b e r (10) 43 elevation in degrees (11) 095 azimuth in degrees to tr ue (12) 48 snr in db ( 1 3 ) 2 0 satellite nu m b e r (14) 17 elevation in degrees (15) 231 azimuth in degrees to tr ue (16) 40 snr in db ( 1 7 ) 3 1 satellite nu m b e r (18) 60 elevation in degrees (19) 190 azimuth in degrees to tr ue (20) 42 snr in db ( 2 1 ) * 7 f checksum table 6: gsv example and description v2.0 ? 04/07 user?s manual page 13 of 43
gps recei ver firmw a re a1037 3 propriet a ry sen t ences 3.1 introduct i on device manufacturer define extensions of the standard nmea protocol or sentences thereof. ? the general format is: ?$?. note that a checksum is not required! ? the combination of is calle d address field. ? the general format of the address fi eld (vendor + message identifier) is: ?p with ?p? for proprietary?. 3.2 nmea sentence handling and baud rate set-up the following commands handle the c onfiguration of nmea outputs. ? $pstmnm eaonoff: toggle nmea sentences ? $pstmrm c : toggle rmc sentence $pstmnme aconfig,< nme a c o n c od e> configures nmea code for nmea output sentences configuration, syntax: 0,x xxx xxx ,yy y y , z a r g u m e n t s : n m e a c o n c o d e x xxx xxx y yyy z uart baud rate output mes s age list (se e below) 0 to transmit on utc second 1 to transmit after fix description: this command configure s baud rate, message list and transmit mode of nmea output sente n ces. no response! see also: --- table 6: nmea sentences update part 1 message list: the message list is the sum of the ids of each message included to the list. example: to have gsa and gsv output me ssages the message list must be 12. page 14 of 43 user?s manual v2.0 - 04/07
gps recei ver firmw a re a1037 available nmea output messages, message ids: message id gga5 nmea 1 gga n m ea 2 gsa nme a 4 gsv nme a 8 vtg nmea 16 rmc n m ea 64 table 7: nmea sentences update part 2 3.3 start-up support in order to improve the ttff (time to firs t fix) after the receiver module was switched off the start up can be support ed by providing a rough time and position information. the date/time provided should be exact to a few minutes, while for the position information a very rough estima tion will help already. tests did show positive results even with unc ertainties of 1,000km. the command for setting time and position has the following format: ? $pstminitgps, to set the following syntax is valid: code for setting ne w p osition and time, s y nta x : xxxx.xxx,[n/s], y yyyy . yyy ,[e/w],zzzz,dd,mm, yyyy,hh,mm,ss position&timecode x xxx .xxx : [n/s]: yy y yy. y yy: [e/w]: zzzz: dd: mm: yyyy: hh: mm: ss: latitude in d egrees, minutes and fra c tions of minutes north or sou t h longitude in degrees, minutes and fr actions of minutes east or west altitude in m e ters day of mont h month year hour minute second table 8: gps start up support v2.0 ? 04/07 user?s manual page 15 of 43
gps recei ver firmw a re a1037 for example to set the date to march 25, 2006, the time to 1:05 p.m. and the location is closed to munich, germany the command will look like this: ? $pstminitgps,480 4.000,n,01139.000,e,0500,25, 03,2006,13,05,00 please note that the positi on is accepted only, if the number of digits before and after the decimal point is correct. for the latitude 4 digits before and 3 digits after the decimal point are required, for the longitude 5 digits before and again 3 digits after, respectively. 3.3.1 avoiding cold star t behavi or a1037-a is a rom based gps receiver module. powering down the module will delete all ephemeris and alm anac data in the gps engine and will end in a cold start next ti me the module will be powered o n again. this can be avoided by reading out t he ephemeris / al manacs before powering down the module and reload it afte r powering up the module again. please note: ephemeris data are valid for 4 hours almanac data are valid for 3 month 3.3.1.1 dump eph e meris ? $pstmdumpephems this command sends out all ephemeris st ored in the backup ram in this format: e.g. $pstmephem,1,3, < b y te1>,,?,*7f (1) $pstmephem vendor and message id entifier ( 2 ) 1 satellite i d (3) 3 number of t he ephemeris data bytes (4) first byte of ephemeris data (5) second byte of ephemeris data (6) last byte of ephemeris data ( 7 ) * 7 f checksum table 9: ephemeris data output page 16 of 43 user?s manual v2.0 - 04/07
gps recei ver firmw a re a1037 3.3.1.2 load ephemeris ? $pstmephem this command load ephemeris data into ba ckup ram. this will end up in hot start. e.g. $pstmephem,1,3, < b y te1>,,?,*7f (1) $pstmephem vendor and message id entifier ( 2 ) 1 satellite i d (3) 3 number of t he ephemeris data bytes (4) first byte of ephemeris data (5) second byte of ephemeris data (6) last byte of ephemeris data ( 7 ) * 7 f checksum table 10: load ephem eris data 3.3.1.3 dump almanacs ? $pstmdumpalmanac this command sends out almanacs stored in the backup ram in this format: e.g. $pstmalmanac, 1 ,3,,,?,*7 f (1) $pstmal m anac vendor and message id entifier ( 2 ) 1 satellite i d (3) 3 number of t he almanac data bytes (4) first byte of almanac data (5) second byte of almanac data (6) last byte of almanac data ( 7 ) * 7 f checksum table 11: almanac data output v2.0 ? 04/07 user?s manual page 17 of 43
gps recei ver firmw a re a1037 3.3.1.4 load almanacs ? $pstmal m anac this command load almanac data into back up ram. this will end up in warm start. e.g. $pstmalmanac, 1 ,3,,,?,*7 f (1) $pstmephem vendor and message id entifier ( 2 ) 1 satellite i d (3) 3 number of t he almanac data bytes (4) first byte of almanac data (5) second byte of almanac data (6) last byte of almanac data ( 7 ) * 7 f checksum table 12: load almanac data 3.3.2 col d star t ? $pstmco l d this command erases all the almanacs and ephemeris, stored in the backup ram and then reboots the system. 3.3.3 warm st art ? $pstmwarm this command erases all ephem eris, stor ed in the backup ram and then reboots the system. 3.3.4 hot st art ? $pstmho t this command reboots the syste m without erasing any data. page 18 of 43 user?s manual v2.0 - 04/07
gps recei ver firmw a re a1037 3.4 version information a special c o mmand is implemented in order to return the serial number of st gps engine. ? $pstminf oread: initiates serial number output the version information will be returned in the following format: $pstmver, gpslib_04.23.05pal ar m ? dec 02 2005 11:14:50,sw commands rel 1.0 (dec 02 2005 12:22:53)*47 3.5 support of sbas (satellite based augmentation sy stems) starting with firmware version 4.30.00, the a 1037 will s upport s atellite b ased a ugmentation s ystems (sbas) systems. tw o syst ems around the world transmit signa ls that can be interpreted by the receiver. as normal gps satellites, the geostation ary satellites that are used fo r the transmission of the information are identifie d by a unique prn (pseu do rando m noise number), a satellite id. this is the prn id information for waa s ( w ide a rea a ugmentation s ystem) and e g nos ( e uropean g eostationary n avigation o verlay s ystem); the following prns h a ve been a llocated to the waas s ystem (region: usa, canada and mexico): prn 122 - inmarsat 3f4 aor-w at 142.0o w prn 134 - inmarsat 3f3 por at 178.0o e prn 135 ?galaxy 15 pana msat at 133.0 w prn 138 ? anik f1r at 107.3 w the following prns have been allocated to the egnos system (re gion: europe, africa and venezuela) : prn 120 - inmarsat 3f2 aor-e at 15.5o w prn 124 - artemis at 21.5o e prn 126 - inmarsat 3f5 ior-w at 25.0o e prn 131 - inmarsat 3f1 ior-e at 64.0o e the following prns have been allocat ed to the msas system (region: japan, australia a nd hawa ii): prn 129 - mtsat 1 at 140.0 e prn 137 - mtsat 2 at 145.0 e v2.0 ? 04/07 user?s manual page 19 of 43
gps recei ver firmw a re a1037 3.5.1 enabli ng sb as s u pport by default, sbas support is switc hed off. to switch on sbas support one needs to issue the following comm and to the receiver: ? $pstmsbasst art in recognition of the command the rece iver will respon d with sbas version information: 3.5.2 toggle sbas support ? $pstmsbasonoff this command will toggle the sbas support. if the sbas was active, this command will stop sbas supp o r t and vice versa. 3.5.3 choose sbas satellite ? $pstmsbassat,12 0 after issuing this command the gps engin e will start to tra ck the sbas sate llite 120. if the parameter i s ?0 ? the system automatically searches for the sbas satellite which is av ailable in the user region. 3.6 sw-reset this command will reset the g ps engine. the command is named: ? $pstmgpsreset page 20 of 43 user?s manual v2.0 - 04/07
gps recei ver firmw a re a1037 4 related information 4.1 contact this manu al was created with due diligence. we hope that it will b e helpful to the user to get the most out of the gps module. anyway, inputs about errors or mi stak able verbalizatio ns and comments or proposals to tyco electronics, power syst ems in munich, germ any, for further improvements are highly appreciated. t y co electronics pow e r sys t ems finsinger feld 1 85521 ottobrunn, germany tel.: +49 89 6089 838 fax: +49 89 6089 835 gps@tycoelectronics.com . www.tycoelectronics.com/gps . further contact addresses: info. gps@tycoelectronics.com . support. gps@tycoelectronics.com . sales. gps @tycoelectronics.com . 4.2 related documents ? manual: t.e. gps receivers a1037 (tyco) ? manual: t.e. gps evaluatio n kit eva103 7-a (tyco) v2.0 ? 04/07 user?s manual page 21 of 43
list of tables and figures 5 list of t a bles table 1: nmea configuration ................................................................................... 7 table 2: gga example and description ................................................................... 9 table 3: vtg example and description .................................................................. 10 table 4: rmc example and description ................................................................. 11 table 5: gsa example and description .................................................................. 12 table 6: gsv example and description .................................................................. 13 table 6: nmea sentences update part 1 ............................................................... 14 table 7: nmea sentences update part 2 ............................................................... 15 table 8: gps start up support ................................................................................ 15 table 9: ephemeris data output ............................................................................. 16 table 10: load ephem eris data ............................................................................. 17 table 11: almanac data output .............................................................................. 17 table 12: load almanac data ................................................................................. 18 page 22 of 43 user?s manual v2.0 - 04/07
appendix uart com m ands appendix c: uart -commands reference the following is an explanation of all uart commands (in alphabetical order) that will be recognized by the module with the current firmware revision. the following notation is used: ( option ) optional parameters option < position > placeholder position [ a , b , c ] selection of a or b or c example 1: $pstmnm eaconfi g,0,4800,65,1 this command will out put rmc and gga nmea sentences with 4800 baud after getting a fix. v2.0 ? 04/07 user?s manual page 23 of 43
appendix uart com m ands pstmalmanac $pstmal m anc, load almanacs data arguments: almanacs data code for loading almanacs: ,,,,?,*7f description: load almanacs data into backup ram see also: 3.3.1.4 load almanac s page 24 of 43 user?s manual v2.0 - 04/07
appendix uart com m ands pstm cold $pstmco l d perform c o ld start arguments: n o n e description: perform c o ld start. this comm and erases all the almanacs and ephemerides, stored i n the ba ckup ram and then reboots the system. see also: -- v2.0 ? 04/07 user?s manual page 25 of 43
appendix uart com m ands pstmdumpalmanac $pstmdumpalmanac dump almanacs arguments: n o n e description: this command sends out all almanac data stored in the back up ram. see also: 3.3.1.3 dump almanacs page 26 of 43 user?s manual v2.0 - 04/07
appendix uart com m ands pstm dumpephems $pstmdumpephems dump ephemeris arguments: n o n e description: this command sends out all ephemer is data stored in the back up ram. see also: 3.3.1.1 dump ephemeris v2.0 ? 04/07 user?s manual page 27 of 43
appendix uart com m ands pstm ephem $pstmephem, load ephemeris data arguments: ephemeris data code for loading ephemeris: ,,,,?,*7f description: load ephemeris data into backup ram see also: 3.3.1.2 load ephemeris page 28 of 43 user?s manual v2.0 - 04/07
appendix uart com m ands pstm gpsreset $pstmgpsreset reset the gps engine arguments: none description: this command resets the gps module. no respon se! see also: --- v2.0 ? 04/07 user?s manual page 29 of 43
appendix uart com m ands pstm gpsrestart $pstmgpsrestart restarts the gps engine arguments: none description: this command restarts the gps module. no respon se! see also: --- page 30 of 43 user?s manual v2.0 - 04/07
appendix uart com m ands pstm hot $pstmho t perform h o t start arguments: n o n e description: perform h o t start. t h is co mmand reboots the system without erasing any backup data. no respon se! see also: v2.0 ? 04/07 user?s manual page 31 of 43
appendix uart com m ands pstminforead $pstminf oread initiates serial number output arguments: none description: initiates serial number output issuing this command leads to a one time output of the module serial num ber see also: --- page 32 of 43 user?s manual v2.0 - 04/07
appendix uart com m ands pstmini t g ps $pstminitgps, initializ e gps positio n and time code for setting new position and time, syntax: xxxx. xxx,[n/s],yyyyy. yyy,[e/w],zzzz,dd,mm,yyyy,hh, mm,ss a r g u m e n t s : p o s i t i o n & timecode xxxx. xxx: [n/s]: yyyyy.yyy: [e/w]: zzzz: dd: mm: yyyy: hh: mm: ss: latitude in degrees, minutes and fractions of minutes north or south longitude in degrees, minutes and fractions of minutes east or west altitude in meters day of month month year hour minute second description: initializ e gps position and time. this additional information will help to speed-up the starting time under certain circumstances. no respons e! see also: --- v2.0 ? 04/07 user?s manual page 33 of 43
appendix uart com m ands pstmneaconfig $pstmnm e aconfi g, configures nmea code for nmea output sentences configuration, syntax: 0,xxxxxxx,yyyy,z a r g u m e n t s : n m e a c o ncode xxxxxxx yyyy z uart ba u d rate output message list (see below) 0 to transmit on utc second 1 to transm i t after fix description: this command configures baud rate, message list and transmit mode of nmea output sentences. no respons e! see also: --- message list: the message list is the sum of the ids of each message included to the list. example: to have gsa and gsv output me ssages the message list must be 12. available nmea output messages, message ids: m e s s a g e i d gga nme a 1 gsa nmea 4 gsv nmea 8 vtg nmea 16 rmc nmea 64 page 34 of 43 user?s manual v2.0 - 04/07
appendix uart com m ands pstm nm eaonoff $pstmnm e aonoff toggle nm ea output message arguments: n o n e description: controls nmea output sentences toggle the nmea output message. if it has been switc h ed on before it becomes switc hed off and vice versa. see also: v2.0 ? 04/07 user?s manual page 35 of 43
appendix uart com m ands pstmrmc $pstmrm c toggle rm c message arguments: n o n e description: controls nmea sentence $gprmc toggle the nmea output message. if it has been switc hed on before it becomes switc hed off and vice versa. see also: page 36 of 43 user?s manual v2.0 - 04/07
appendix uart com m ands pstm sbasonoff $pstmsbasonoff toggle sbas support arguments: n o n e description: this command will toggle the sbas support. if the sbas was active, this command will stop sbas supp o r t and vice versa. no respo n se! see also: v2.0 ? 04/07 user?s manual page 37 of 43
appendix uart com m ands pstm sbassat $pstmsbassat chang e sbas satellite arguments: sbas id number of sbas satellite description: after issuing this command the g ps engine will start to track the dedicated sbas sate llite. if the parameter is ?0? the system automatically searches for the sbas satellite which is a v aila ble in the user region. no respo n se! see also: page 38 of 43 user?s manual v2.0 - 04/07
appendix uart com m ands pstm sbasstart $pstmsbasst art start sbas support arguments: n o n e description: sba s supp ort will be started respons e: output of s bas versio n information see also: v2.0 ? 04/07 user?s manual page 39 of 43
appendix uart com m ands pstm srr $pstmsrr reset of th e gps software arguments: none description: this command reset the software running on the gps engine. no respon se! see also: --- page 40 of 43 user?s manual v2.0 - 04/07
appendix uart com m ands pstm stby $pstmstby,(t) put the gp s engine in standby mode arguments: t standby period (seconds); acceptable values are from 0 to 99999 description: put the system in standby mode. if t is 0 the n the syste m goes in standby mode for undefined time and can be waked up by hardware. respons e only if the input is incorrect: $pstmstbyerror* see also: v2.0 ? 04/07 user?s manual page 41 of 43
appendix uart com m ands pstm stop $pstmstop,(t) stop the gps engine arguments: t stop period (seconds); acceptable values are from 0 to 99999 description: stop the gps engine for a t time. a fter the defined time frame the system will be reset. respons e only if the input is incorrect: $pstmstoperror* see also: page 42 of 43 user?s manual v2.0 - 04/07
appendix uart com m ands pstmw arm $pstmwarm perform w a rm start arguments: n o n e description: perform warm start. this command erases all the ephemerides, stored in th e backup ram and then reboots the system. no respon se! see also: v2.0 ? 04/07 user?s manual page 43 of 43

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