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1. fo saan Jerr is pem 5 NMEA 1 0 Illegal command form 5 NMEA 2 0 Illegal command prefix 5 NMEA 3 0 Illegal command 5 NMEA 4 0 Illegal section ID 5 NMEA 5 0 Illegal parameter 5 NMEA 6 0 Illegal CRC 5 NMEA 7 0 Illegal message 6 Application 0 File ID Invalid data 6 Application 1 0 Invalid command 6 Application 2 0 Permission denied Read only data 6 Application 3 0 Invalid section ID 6 Application 4 0 Invalid file ID Message from storage agent SA 6 Application 5 0 Invalid return value Examples of error messages Illegal CRC PUNV ERR 05 00006 00000 5B Illegal command PUNV ERR 05 00003 00000 5E OK OK is an acknowledgement message which is sent as reply of successful execution of command sent via different protocol Currently OK is sent to confirm successful execution of commands sent via AGPS protocol The format of the message is as follows SPUNV OK D message ID cc ID is the ID of responding navigation subsystem Two decimal digits with leading zero if necessary message ID is the ID of successfully executed command Five decimal digits with leading zeros if necessary Configuration Sections Output Configuration A Prepared by RB AM Output configuration is used to configure input output protocol Page 14 30 Date File name Rev 2008 03 20 NMEA_sdk doc 1 10 The current output configuration can be re
2. Prepared by RB AM Name RaimMode NavMode Format Hexadecimal number Decimal number Valid values Bit field of 1 2 4 8 10 20 40 80 100 200 400 1 2 3 Default value JEE Page 18 30 Date File name Rev 2008 03 20 NMEA_sdk doc 1 10 Description RAIM mode 0x001 code phase 0x002 TOW 0x004 elevation 0x008 Doppler difference 0x010 pseudo range in range 0x020 pseudo range differ 0x040 pseudo range change 0x080 gross pseudo range 0x100 gross Doppler 0x200 gross correlation 0x400 power Navigation mode 1 Least square estimation LSE 2 weighted LSE 3 Kalman Postfilter MinEleSoft MinEleHard AltAiding AltAiding Value Hexadecimal number Decimal number Decimal number Decimal number Decimal number Bit field of 1 2 4 8 10 0 1 20000 1F Post filter selection 0x01 position filter 0x02 velocity filter 0x04 altitude filter 0x08 clock filter 0x10 heading filter Minimum soft elevation angle for used satellites in degrees Minimum hard elevation angle for used satellites in degrees Altitude aiding 0 use altitude aiding value 1 do not use altitude aiding value Altitude aiding value in respect to geoid in meters Environment IntervalEphe IntervalAlm Decimal number Decimal number Decimal number 0 1 2 0 1 2 0 1 2 Measur
3. A ATHEROS Prepared by RB AM Page 1 30 Date File name Rev 2008 03 20 NMEA_sdk doc 1 10 ORION 3 0 NMEA User Manual A Prepared by RB AM CHANGE HISTORY REFERENCES Page 2 30 Date File name Rev 2008 03 20 NMEA_sdk doc 1 10 Date Rev Author Status Description of changes 2008 03 25 1 00 AM Draft Initial document version 2008 05 06 1 01 AM Draft Configuration sections are extended 2008 07 17 1 02 AM Draft Position Pinning Configuration section is updated zero values for position and velocity thresholds are described 2008 08 21 1 03 AM Draft Position Pinning Configuration section is updated more usage examples are added Configuration Sections sections are updated comment about error responses is added 2008 08 21 1 04 AM Draft Position Pinning Configuration section is updated pinning position update timeout and deep pinning mode delay are added 2008 08 26 1 05 AM Draft Position Pinning Configuration section is updated mistakes in examples are fixed 2008 08 27 1 06 AM Draft 1 Added note about usage version string as Orion initialization complete signal 2 AGPS custom protocol IDs described in Output Configuration section 2008 09 02 1 07 AM Draft Font size is changed 2008 09 08 1 08 AM Draft
4. Greenland Hayes Peninsula 30 NAS P MEAN FOR Antigua Barbados Barbuda Caicos Islands Cuba Dominican Republic Grand Cayman Jamaica Turks Islands 31 NAS N MEAN FOR Belize Costa Rica El Salvador Guatemala Honduras Nicaragua 32 NAS E MEAN FOR Canada 33 NAS C MEAN FOR CONUS 34 NAS A MEAN FOR CONUS East of Mississippi River Including Louisiana Missouri Minnesota 35 NAS B MEAN FOR CONUS West of Mississippi River Excluding Louisiana Minnesota Missouri 36 NAS L Mexico 37 NAR A Alaska Excluding Aleutian Ids 38 NAR E Aleutian Ids 39 NAR B Canada 40 NAR C CONUS 41 NAR H Hawaii 42 NAR D Mexico Central America A Prepared by RB AM Page 28 30 Date File name Rev 2008 03 20 NMEA_sdk doc 1 10 43 NSD Algeria 44 FLO Azores Corvo amp Flores Islands 45 OEG Egypt 46 OHA A Hawaii 47 OHA B Kauai 48 OHA C Maui 49 OHA M MEAN FOR Hawaii Kauai Maui Oahu 50 OHA D Oahu 51 FAH Oman 52 OGB A England 53 OGB B England Isle of Man Wales 54 OGB M MEAN FOR England Isle of Man Scotland Shetland Islands Wales 55 OGB C Scotland Shetland Islands 56 OGB D Wales 57 PLN Canary Islands 58 PIT Pitcairn Island 59 PTB MEAN FOR Burkina Faso amp Niger 60 PIN Congo 61 Pos Porto Santo Madeira Islands 62 PRP A Bolivia 63 PRP B
5. SPUNV CONFIG 17 Position threshold Velocity threshold Position update timeout Deep mode delay 2 ireacquisition 2D all 2D cold cc command the receiver sends confirmation in a following form SPUNV CFG S 17 55 In case of failure of execution of GETCONFIG CONFIG or SET command the receiver sends ERR reply message Please see ERR section for details Examples Default settings PUNV CONFIG 17 50 1 120 600 0 cc Default settings plus enabling 2D start up mode for reacquisition only PUNV CONFIG 17 50 1 120 600 4 cc Default settings plus enabling 2D start up mode for all start modes only except COLD start A ATHEROS Prepared by RB AM Page 23 30 Date File name Rev 2008 03 20 NMEA_sdk doc 1 10 PUNV CONFIG 17 50 1 120 600 2 cc Default settings plus enabling 2D start up mode for cold start mode only PUNV CONFIG 17 50 1 120 600 1 cc Default settings plus enabling 2D start up mode for all cases PUNV CONFIG 17 50 1 120 600 7 cc STANDARD NMEA SENTENCES Orion supports the following standard NMEA messages DTM GGA GLL GSA GSV RMC VTG and ZDA The following format conventions have been used in accordance with the NMEA standard When a null field is used to indicate unavailability of data also the field for the unit of measure is formatted as a null field Three digits are always used for decimal fraction of seconds in UTC time Four digits
6. Reset configurations is not supported for STOP command 2008 09 19 1 09 AM Draft UBP mask description is added to the output configuration 2008 09 23 AM Draft Position Pinning Configuration command update SLEEP command update Algorithm Configuration command update Version Number section update 1 NMEA 0183 Standard For Interfacing Marine Electronic Devices http www nmea org 2 u Map Application Note 3 u Nav Binary Protocol Specification for SDK Users version 2 0 ABBREVIATIONS Acronym Description AGPS Assisted GPS APP Application Profile Subsystem ASCII American Standard Code for Information Interchange bps Bits Per Second CRC Cyclic Redundancy Check FOM Figure Of Merit A Prepared by RB AM Date File name Page 3 30 2008 03 20 NMEA_sdk doc Acronym Description FSH Flash memory GMT Greenwich Mean Time GPS Global Positioning System HW Hardware ID Identifier LGF Last Good Fix LSE Least Square Estimation N A Not Applicable NMEA The National Marine Electronics Association NVRAM Non Volatile RAM ORION Atheros brand of GPS receivers PVT Position Velocity Time RAIM Receiver Autonomous Integrity Monitoring RAM Random Access Memory RF Radio Frequency RTC Real Time Clock SA Storage Agent Subsystem
7. SBAS Satellite Based Augmentation System SDK Software Development Kit TCXO Temperature Controlled Crystal Oscillator TOW Time Of Week UART Universal Asynchronous Receiver Transmitter UBP u Nav Binary Protocol UTC Universal Time Coordinated VSDSP VLSI Solution DSP WGS84 World Geodetic System reference frame for the earth for use in geodesy and navigation Page A 4 30 ATHEROS Prepared by Date File name Rev MEAN 2008 03 20 NMEA_sdk doc 1 10 TABLE OF CONTENTS CHANGE HISTORY ce eech ENEE SEENEN 2 REFERENCES eeh ee ee 2 ABBREVIATIONS nccececccsiccccc aaan chen cesccinccereestenncieccdids AEN 2 TABLE OF CONTENTS ictcccscececectezecccsesestccctencesccgenenencetecesaancececanseedsesenne ees avast ecactaescdeeexexen2 4 1 OVERVIEW A E cteeececesecse cecncstedexestastee 5 2 otelO WE 5 2 1 CRG CalCulation EE 5 2 2 Sentence Termination Delimiter ccccccccceceeeeeeeeneeeeeeeeeeeneceeeeeeeeesennaees 5 3 CUSTOM NMEA SENTENCES oo cecececeeeseee cece eeeeneneeeeeeeeeeeseseaeeeeeeneeeesanees 6 3 1 Timing NET 6 3 2 SIZ El 6 3 3 Format DESCHIPTIOM scsscciecevsesseessededea cvecexnasbeaeseenevesntedeeenteaxseuahereaeavasanioneeneneaees 7 3 3 1 ASSIST ariei eaaa ded E ea anaa EE eave ee ea EEE EENET neers 7 3 3 2 O16 os EE 7 3 3 3 TEE eisene geesde eier eege ee 8 3 3 4 START cia sa dovesisicced ierat su e egegdea ee EENS ENEE EAEAN Nani Adr EES SEN eetendies 8 3 3 5 E a A O E E E IE 9 3 3 6 WAKEUP ede
8. Zero values for position and velocity thresholds effectively mean that position pinning is disabled Position threshold A Prepared by RB AM Page 22 30 Date File name Rev 2008 03 20 NMEA_sdk doc 1 10 Name Format Valid values Default Description value Velocity threshold Decimal with 20 fractional part 1 The threshold value for velocity calculation Position pinning will be disabled if this value is reached in meters per second Zero values for position and velocity thresholds effectively mean that position pinning is disabled Position update Decimal gt 0 timeout 120 In position pinning mode pinned position is updated based on this timeout in seconds Deep mode delay Decimal 20 600 When in position pinning mode deep pinning mode is activated after this delay in seconds If 0 then deep pinning mode is disabled 0 Indicates if 2D start up mode is enabled in reacquisition 0 disabled 1 enabled Please see usage examples below 2D reacquisition Hexadecimal 0 1 0 Indicates if 2D start up mode is enabled in all start modes except COLD start 0 disabled 1 enabled Please see usage examples below 2D all Hexadecimal 0 1 0 Indicates if 2D start up mode is enabled in COLD start 0 disabled 1 enabled Please see usage examples below 2D cold Hexadecimal 0 1 In case of successful execution of
9. 000 User defined 1 wess4 Global 2 ADI M Ethiopia Sudan 3 ADI E Burkina Faso 4 ADI F Cameroon 5 ADI A Ethiopia 6 ADI C Mali 7 ADI D Senegal 8 ADI B Sudan 9 AFG Somalia 0 AIN A Bahrain 1 AIN B Saudi Arabia 2 AMA American Samoa Islands 3 ANO Cocos Islands 4 AIA Antigua Leeward Islands 5 ARF A Botswana 6 ARF H Burundi 7 aRr e Lesotho 8 ARF C Malawi 9 ARF M MEAN FOR Botswana Lesotho Malawi Swaziland Zaire Zambia Zimbabwe 20 ARF D Swaziland 21 ARF E Zaire 22 ARF F Zambia 23 ARF G Zimbabwe 24 ARS M MEAN FOR Kenya Tanzania 25 ARS A Kenya 26 ARS B Tanzania 27 ASC Ascension Island 28 ATF Iwo Jima 29 SHB St Helena Island 30 TRN Tern Island 31 TASO Marcus Island A Prepared by RB AM Page 25 30 Date File name Rev 2008 03 20 NMEA_sdk doc 1 10 32 AUA Australia Tasmania 33 AUG Australia Tasmania 34 PHA Djibouti 35 IBE Efate amp Erromango Islands 36 BER Bermuda 37 BID Guinea Bissau 38 BOO Colombia 39 BUR Indonesia Bangka amp Belitung Ids 40 CAZ Antarctica McMurdo Camp Area 41 CAI Argentina 42 CAO Phoenix Islands 43 CAP South Africa 44 CAG Bahamas Florida 45 CGE Tunisia 46 CHI New Zealand Chatham Island 47 CHU Paraguay 48 COA Brazil 49 DAL Guinea 50 DID Deception Island Antarctica 51 BAT Indonesia Sumatra 5
10. 0000 9999 Leading zeros always included for degrees and minutes to maintain fixed length Trailing zeros always added for decimal fraction of minutes to maintain fixed length N s is latitude hemisphere North n or South s yyyyy yyyy is snapped to longitude Degrees minutes are in decimal format 3 fixed digits of degrees 000 180 2 fixed digits of minutes 00 59 and 4 fixed digits for decimal fraction of minutes 0000 9999 Leading zeros always included for degrees and minutes to maintain fixed length Trailing zeros always added for decimal fraction of minutes to maintain fixed length E wis longitude direction which indicates the longitude direction East or West w A Prepared by RB AM 3 3 3 3 3 4 Page 8 30 Date File name Rev 2008 03 20 NMEA_sdk doc 1 10 h h is heading in degrees optional Variable length integer or floating point numeric field The decimal point and associated decimal fraction are optional A null field should be used to indicate that no heading assistance is provided c c indicates the degree of confidence of the snapped to position Variable length integer or floating point numeric field The decimal point and associated decimal fraction are optional STORELGF With STORELGF command the user can force immediate LGF storage START With START command the user can restart the navigation and erase different kind of data at the same time
11. Chile Northern Near 1990S 64 PRP C Chile Southern Near 439S 65 PRP D Colombia 66 PRP E Ecuador 67 PRP F Guyana 68 PRP M MEAN FOR Bolivia Chile Colombia Ecuador Guyana Peru Venezuela 69 PRP G Peru 70 PRP H Venezuela 71 THIT Chile Near 53 S Hito XVIII 72 PUR Puerto Rico Virgin Islands 73 PUK Russia 74 QAT Qatar 75 Quo Greenland South 76 REU Mascarene Islands 77 EUR I Italy Sardinia 78 SPK A Hungary 79 SPK B Poland 80 SPK C Czechoslovakia 81 SPK D Latvia 82 SPK E Kazakhstan A Prepared by RB AM Page 29 30 Date File name Rev 2008 03 20 NMEA_sdk doc 1 10 83 SPK F Albania 84 SPK G Romania 85 ECD Czechoslovakia Prior 1 JAN 1993 86 SAR Espirito Santo Island 87 SAO Azores Sao Miguel Santa Maria Ids 88 SAP East Falkland Island 89 SCK Namibia 90 SGM Salvage Islands 91 SRL Sierra Leone 92 SAN A Argentina 93 SAN B Bolivia 94 SAN C Brazil 95 SAN D Chile 96 SAN E Colombia 97 SAN F Ecuador 98 SAN J Ecuador Baltra Galapagos 99 SAN G Guyana Trinidad amp Tobago Venezuela 201 SAN H Paraguay 202 SAN I Peru 203 SAN K Trinidad amp Tobago 204 SAN L Venezuela 205 SOA Singapore 206 TAN Madagascar 207 TIL Brunei E Malaysia Sabah Sarawak 208 TOY A Japan 209 TOY M MEAN FOR Japan South Korea Okinawa 210 TO CN Okinaw
12. RB AM 3 4 4 Page 17 30 Date File name Rev 2008 03 20 NMEA_sdk doc 1 10 Flash is the flash type DeviceiD is the device identifier hexadecimal number RF IC RF mode and RF cs are the RF type these can be written by the user TCXO PPB is the TCXO uncertainty this can be written by the user TCXO Freq is the TCXO frequency this can be written by the user In case of failure of execution of this command the receiver sends ERR reply message Please see ERR section for details Algorithm Configuration Algorithm configuration is used to deliver configurable algorithm information to navigation core The current algorithm configuration can be read in the system with the following command The configuration command template for algorithm configuration is as follows PUNV CONFIG 11 Sbas Prefilter RaimMode NavMode Posttilter MinEleSoft MinEleHard AltAiding AltAiding Val IntervalEphe IntevalAlm Intervallono MeasPse Var MeasDopVar ProcessSpVar ProcessSgVar Pri cessSfVar cc or t IntervalEphe IntevalAlm Intervallono MeasPseVar MeasDopVar ProcessSpVar ProcessSgVar Proces Table 3 7 Algorithm configuration Default value Valid values Description SBAS master control 0 SBAS is switched off 1 SBAS is switched on Sbas Decimal number 1 Prefilter Hexadecimal g Pre filter selection number 0 no pre filter 1 carrier smooth
13. are always used for decimal fraction of minutes in latitude and longitude DTM Six digits are always used for decimal fraction of latitude and longitude offsets Two digits are always used for decimal fraction of altitude offset GGA UTC field starts from zero time and changes to measured time when measurement is available a debugging feature The number of satellites is always reported with two digits with leading zero when necessary GLL UTC time field as in GGA GSA satellite ID numbers are in range 0 99 They are always reported with two digits with leading zero when necessary GSV no implementation specifics RMC UTC time field as in GGA course and speed over ground as in VTG VTG course over ground is reported with 0 1 degree precision speed over ground is reported with 0 1 unit precision for both knots and km h fields In case of speed equals zero the heading is reported as null ZDA Local zone hours are always presented as the user has configured them The default configuration is 0 The hour zone is reported always by two digits with A Prepared by RB AM 5 Page 24 30 Date File name Rev 2008 03 20 NMEA_sdk doc 1 10 leading zero when necessary and with leading minus sign when necessary Local zone minutes are always presented with two digits with leading zero when necessary UTC time field as in GGA APPENDIX A DATUM CODES 0
14. 2 GIZ New Georgia Islands Gizo Island 53 EAS Easter Island 54 EST Estonia 55 EUR E Cyprus 56 EUR F Egypt 57 EUR G England Channel Islands Scotland Shetland Islands 58 EUR K England Ireland Scotland Shetland Islands 59 EUR C Finland Norway 60 EUR B Greece 61 EUR H Iran 62 EUR I Italy Sardinia 63 EUR J Italy Sicily 64 EUR L Malta 65 RUR M MEAN FOR Austria Belgium Denmark Finland France W Germany Gibraltar Greece Italy Luxembourg Netherlands Norway Portugal Spain Sweden Switzerland 66 EUR A MEAN FOR Austria Denmark France W Germany Netherlands Switzerland 67 EUR S MEAN FOR Iraq Israel Jordan Lebanon Kuwait Saudi Arabia Syria A Prepared by RB AM Page 26 30 Date File name Rev 2008 03 20 NMEA_sdk doc 1 10 68 EUR D Portugal Spain 69 EUR T Tunisia 70 RUS MEAN FOR Austria Finland Netherlands Norway Spain Sweden Switzerland 71 FOT Nevis St Kitts Leeward Islands 72 GAA Republic of Maldives 73 GEO New Zealand 74 GRA Azores Faial Graciosa Pico Sao Jorge Terceira 75 GUA Guam 76 GSE Indonesia Kalimantan 77 DOB Guadalcanal Island 78 HEN Afghanistan 79 HER Croatia Serbia Bosnia Herzegovina 80 HJO Iceland 81 HKD Hong Kong 82 HTN Taiwan 83 IND B Bangladesh 84 IND I India Nepal 85 IND P Pakistan 86 INF A Thailand 87 ING B Vietnam Con
15. MEDIUM 0x0002 Erase time but leave RTC HOT 0x0000 Do not erase anything AUTO 0x0000 Do not erase anything START command in its simplest form is also supported which just restarts navigation without erasing anything So effectively it is equal to commands SLEEP Kal With the SLEEP command the user can put the system into the sleep mode The system stays in the sleep mode until it is forced to wake up or after specified timeout The NMEA command for the sleep mode without timeout is PUNV SLEEP bitmask cc bitmask is a hexadecimal number without Ox prefix specifying the data to be erased and has the same set of possible values as for START command described in 3 3 4 We E Tj EEP command in its simplest form is also supported SPUNV SLEEP 0 62 A ATHEROS Prepared by RB AM 3 3 6 3 3 7 Page 10 30 Date File name Rev 2008 03 20 NMEA_sdk doc 1 10 The NMEA command for sleep mode for a predefined time has the following form hhis hours 00 24 mm is minutes 00 59 ss is seconds 00 59 The total sleeping time specified should be less than 90000 seconds WAKEUP To wake up from sleep send any kind of NMEA message to any UART port The content of this message is disregarded by the system After the wakeup from sleep the system is always started in auto mode just like if SPUNV START AUTO 52 command was sent For distinctness sake t
16. SPUNV START bitmask cc bitmask is a hexadecimal number without 0x prefix specifying the data to be erased Table 3 2 Bitmasks Bitmask Description 0x001 Erase position from NVRAM FSH and RAM 0x002 Erase accurate time leave inaccurate time 0x004 Erase RTC time 0x008 Erase TCXO offset and drift values from NVRAM FSH and RAM 0x010 Erase UTC parameters from FSH and RAM 0x020 Erase ionospheric correction parameters from FSH and RAM 0x040 Erase all almanacs from FSH and RAM 0x080 Erase NVRAM 0x100 Reset configurations from FSH and RAM Output Zone Debug Datum VSDSP pinning 0x200 Erase all ephemerides from FSH and RAM 0x400 Erase all prehistory information collected so far in FSH and RAM There is a number of predefined mnemonics to be used with the START command When alias is used the command has the following form alias is a mnemonic specifying the particular bitmask A Prepared by RB AM 3 3 5 Page 9 30 Date File name Rev 2008 03 20 NMEA_sdk doc 1 10 Table 3 3 Aliases FACTORY OxFFFF Start up with no prior information and reset configuration FSH and RAM to compte An factory defaults ALL 0x02FF Erase everything else except configurations COLD 0x02F7 Retain TCXO and configurations LGFCOLD 0x02F6 Retain TCXO position and configurations WARM 0x0202 Retain TCXO position RTC time and configurations NOTIME 0x0004 Erase time retain everything else
17. Son Island 88 ING A Vietnam Near 16 N 89 INH A1 Thailand 90 IDN Indonesia 91 IRL Ireland 92 ISG South Georgia Islands 93 IST Diego Garcia 94 JOH Johnston Island 95 KAN Sri Lanka 96 KEG Kerguelen Island 97 KEA West Malaysia amp Singapore 98 KUS Caroline Islands 99 KGS South Korea 00 LCF Cayman Brac Island 01 LEH Ghana 02 LIB Liberia 03 LUZ A Philippines Excluding Mindanao 04 LUZ B Philippines Mindanao 05 MPO Gabon 06 MIK Mahe Island A Prepared by RB AM Page 27 30 Date File name Rev 2008 03 20 NMEA_sdk doc 1 10 07 MAS Ethiopia Eritrea 08 MER Morocco 09 MID Midway Islands 0 MIN A Cameroon 1 MIN B Nigeria 2 ASM Montserrat Leeward Islands 3 NAH A Oman Masirah Island 4 NAH C Saudi Arabia 5 NAH B United Arab Emirates 6 NAP Trinidad amp Tobago 7 NAS D Alaska Excluding Aleutian Ids 8 NAS V Alaska Aleutian Ids East of 1800W 9 NAS W Alaska Aleutian Ids West of 1800W 20 NAS Q Bahamas Except San Salvador Id 21 NAS R Bahamas San Salvador Island 22 NAS F Canada Alberta British Columbia 23 NAS H Canada Manitoba Ontario 24 NAS G Canada New Brunswick Newfoundland Nova Scotia Quebec 25 NAS I Canada Northwest Territories Saskatchewan 26 NAS J Canada Yukon 27 NAS O Canal Zone 28 NAS T Cuba 29 NAS U
18. a 211 TOY B South Korea 212 TDG Tristan da Cunha 213 MVS Fiji Viti Levu Island 214 VOR Algeria 215 WAK Wake Atoll 216 ENW Marshall Islands 217 WGS72 Global Definition 218 YAG Uruguay 219 ZAN Suriname 220 Reserved 221 KKJ Finland A ATHEROS Prepared by RB AM Page 30 30 Date File name Rev 2008 03 20 NMEA_sdk doc 1 10
19. ad in the system with the following command Table 3 5 Output configuration Format Valid values Default value Description CM In Two hexadecimal 00 NMEA 00 NMEA Input communication protocol digits 01 UBP 04 AGPS 3GPP 05 AGPS 3GPP2 09 AGPS custom 10 User specific CM Out Two hexadecimal 00 NMEA 00 NMEA Output communication protocol digits g 01 UBP 04 AGPS 3GPP 05 AGPS 3GPP2 09 AGPS custom 10 User specific UART Decimal 300 1200 2400 4800 4800 UART communication speed bps 9600 14400 19200 28800 57600 115200 NMEA_MASK Three 001 GGA 01D NMEA mask It is a hexadecimal hexadecimal number that enables selected digits 002 GLL output NMEA messages Different 004 GSA combinations of the outputting messages can be selected by 008 GSV calculating the final hexadecimal number after adding all wanted RE hexadecimal masks together 020 VTG 040 ZDA 080 DTM 100 FOM A ATHEROS Prepared by RB AM 3 4 2 Page 15 30 Date File name Rev 2008 03 20 NMEA_sdk doc 1 10 UBP_MASK List of three Please see 3 for N A Comma separated list of hexadecimal ossible UBP messages hexadecimal UBP message IDs digits separated e odes 9 which are sent out by UART The by commas maximum number of IDs in the list is limited by the maximum size of custom NMEA sentence which is 128 characters Note If the user changes th
20. and usage of the Atheros custom NMEA messages in the Orion navigation software It also details the implementation specifics of standard NMEA output messages supported by Orion FORMAT Atheros custom NMEA messages are structured according to the standard template of NMEA format Every message starts with a dollar sign After this prefix there will be an Atheros command prefix PUNV not registered and a comma After the comma there is the command field which is defined in section 3 The command field ends with an asterisk and a two digit hexadecimal CRC checksum The line is executed after lt carriage return gt lt new line gt character pair Exam ple line PUNV lt command gt cc lt carriage return gt lt new line gt Please note all the NMEA messages which do not start with dollar sign will be ignored without any error response CRC Calculation The CRC calculation is explained in the NMEA standard 1 If the CRC is omitted or illegal the message will be rejected CRC value cc two lower case c characters will always be accepted Sentence Termination Delimiter All sentences end with the sentence termination delimiter lt carriage return gt lt new line gt This combination is r n in C language format and hexadecimal ASCII values are OD 0A Both characters have to be sent after CRC to execute the command A Prepared by RB AM 3 1 3 2 Pa
21. e input communication protocol to other than NMEA then to return to NMEA as an input protocol the new protocol specific command should be used Please note that there is no comma or space between CM Out and CM In fields The application profile subsystem will check the maximum length of the NMEA messages when changing output section For example if the speed is set to 4800 bps the output protocol is NMEA and the selected NMEA messages will take bandwidth more than 450 characters per second the application profile subsystem will produce an error message and reject the changes In case of successful execution of SPUNV CONFIG 00 CM OutCM In 0 1000 UART NMEA_MASK UBP_MASK cc command the receiver sends confirmation in a following form PUNV CFG_S 00 53 In case of failure of execution of GETCONFIG CONFIG or SET command the receiver sends ERR reply message Please see ERR section for details Examples To produce all other messages but DTM and Fom at the speed of 115200 bps PUNV CONFIG 00 0000 0 1000 115200 7F cc To disable the default NMEA messages PUNV CONFIG 00 0000 0 1000 4800 0 cc Time Zone Configuration Time Zone configuration is used to configure user localization data The current configuration can be read in the system by the following command SPUNV GETCONFIG 03 4 The answer is as follows SPUNV CFG_R 03 HZ MZ cc The configuration command template for the Time Zone configuration i
22. ement qualification parameter 0 open sky 1 urban canyon 2 indoor Ephemeris store interval 0 do not store 1 when new available 2 only by external command Almanac store interval 0 do not store 1 when new available 2 only by external command Intervallono MeasPseVar MeasDopVar ProcessSpVar Decimal number Decimal with fractional part Decimal with fractional part Decimal with fractional part 0 1 2 Any Any Any UTC amp lonospheric data store interval 0 do not store 1 when new available 2 only by external command Measurement covariance for pseudo range Measurement covariance Process covariance A Prepared by RB AM 3 4 5 Page 19 30 Date File name Rev 2008 03 20 NMEA_sdk doc 1 10 Format Valid values Default Description value Process covariance Process covariance Decimal with fractional part ProcessSgVar Decimal with fractional part ProcessSfVar In case of successful execution of e Environment IntervalEphe IntevalAlm Intervallono MeasPse Var MeasDop Var ProcessSpVar ProcessSgVar Pro cessSfVar cc command the receiver sends confirmation in a following form SPUNV CFG_S 11 53 In case of failure of execution of GETCONFIG CONFIG or SET command the receiver sends ERR reply message Please see ERR section for details SBAS Con
23. er size should be 82 for one sentence For the custom NMEA messages the maximum size of the input messages is 128 characters and for the output messages 200 characters A ATHEROS Prepared by RB AM 3 3 3 3 1 3 3 2 Page 7 30 Date File name Rev 2008 03 20 NMEA_sdk doc 1 10 Format Description ASSIST With ASSIST command the user can inject time assistance into the navigation software The format of ASSIST command is the following hhmmss ss is the UTC time hh hours 00 23 mm minutes 00 59 ss ss seconds 00 00 59 99 ddmmyy is the UTC date aa day 01 31 mm month 01 12 yy year 00 99 tow is time of the week in milliseconds 0 604699999 and wn is a week number starting from January 6 1980 CORR CORR command injects u Map assistance information into the navigation software Please find more information about u Map feature from 2 The format of CORR command is as follows SPUNV CORR hhmmss sss_llil llll N S yyyyy_yyyy E W h h c c c hhmmss sss iS timestamp which must match the NMEA timestamp from the message set that the correction applies to The format is hh hours 00 23 mm minutes 00 59 ss sss seconds 00 000 59 999 mum is Snapped to latitude Degrees minutes are in decimal format 2 fixed digits of degrees 00 90 2 fixed digits of minutes 00 59 and 4 fixed digits for decimal fraction of minutes
24. figuration SBAS configuration is used to configure SBAS functionality The current SBAS configuration can be read in the system with the following command Please see section 3 4 4 describing the response to this command SBAS functionality can be switched on or off by following command Table 3 8 SBAS configuration Valid values Default value Description Status String ON OFF ON SBAS status ON SBAS is switched on OFF SBAS is switched off In case of successful execution of SPUNV CONFIG SBAS Status cc command the receiver sends confirmation in a following form SPUNV CFG_S 11 53 A ATHEROS Prepared by RB AM 3 4 6 Page 20 30 Date File name Rev 2008 03 20 NMEA_sdk doc 1 10 In case of failure of execution of GETCONFIG CONFIG or SET command the receiver sends ERR reply message Please see ERR section for details Datum Configuration Datum configuration is used to select the output datum The current configuration can be read in the system by the following command SPUNV SET 16 ld cc Table 3 9 Datum configuration numbers rors Ps centre X shift in respect to WGS8 ellipsoid in meters Dy Decimal SEA 0 Datum centre Y shift in respect to WGS84 ellipsoid in meters Dz Decimal SE 0 Datum centre Z shift in respect to WGS84 ellipsoid in meters Da Decimal with gt 0 6378137 Datum semi major axis in meters fracti
25. gatueereketdeedeeeubetegd gdEee E O EES EEESEEEEhdEER Ee AAEE 10 3 3 7 SIES A AEE E E A E EA ETEA E T 10 3 3 8 CONE Gib E E E E eEeecee 11 3 3 9 OE E E E peeyayeuhesceadvane adciuestesvs bauana secs eeseeesunexe 11 3 3 10 GET CONFIG EE 11 3 3 11 VERSION eneen eege nthe ean ania 11 3 3 12 eege EE EE 12 3 3 13 CR GF E 12 3 3 14 CEG Z ss E E E ONE eege deaeasatebvexeiete aqecepeebebeounaye 12 3 3 15 EAR E E E E E OO Ego 12 3 3 16 OKni Geese cian ee Ee 13 3 4 Configuration S CtiONS 0 ce cece cece cece aau E EEEE nunaa EE EELEE EEEa REEE E EENEN 13 3 4 1 Output Configuration sesikisiisiiiiinannan aaien aau innara kaa aa eaaa re aana AAE EE ta anaa EE 13 3 4 2 Time Zone Contiguration ntse trnn raner ttre n renn 15 3 4 3 Version Number 16 3 4 4 Algorithm Contouraiion ecean ra a a LAED aa 17 3 4 5 SBAS COnmPiQuration scese inaa aaa DESSERT 19 3 4 6 Datum Configuration cccccccceeeeeeeeceneeeeeeeeeeeceaeeceeeeeseeceneaaeeeeeeeesenssneeeeeees 20 3 4 7 Position Pinning Configuration cccccccceeeeeeeeeeeceeeeeeeecenecaeeeeeeeesenceneeeeeees 21 4 STANDARD NMEA SENTENCES 00 ccceseeeeeeeeeeeeeeeeeeeeeeeeeeeeeaeeeeeeeeeeeeeseees 23 5 APPENDIX A DATUM CODES iisscecncccccccssssscccctsccczcscsnnceeeceeseceoccatenscenessanececs 24 A ATHEROS Prepared by RB AM 2 1 2 2 Page 5 30 Date File name Rev 2008 03 20 NMEA_sdk doc 1 10 OVERVIEW This document describes the format
26. ge 6 30 Date File name Rev 2008 03 20 NMEA_sdk doc 1 10 CUSTOM NMEA SENTENCES The command field starts the custom command Atheros custom NMEA messages are defined below in Table 3 1 Table 3 1 Atheros custom NMEA messages Command Response In Out Description ASSIST UTC time assistance input message CORR u Map assistance message STORELGF Force immediate LGF store operation START Request for immediate restart SLEEP Request to stop the navigation and enter to sleep mode WAKEUP Wake up from sleep STOP Request to stop the navigation CONFIG Request to configure configuration section SET In Change configuration in RAM only GETCONFIG In Request to read configure information of configuration section VERSION In Alias to PUNV GETCONFIG 09 FOM Out Navigation quality indicator figure of merit CFG_R Reply message for read configure information CFG_S Reply message for write configure information ERR Error message OK Out Success message If the NMEA string can be decoded to explicit command for the Orion system the same message will be echoed back to sender Timing Limits The current version of Orion will not operate properly if the user sends more than one custom NMEA message in a second Size Limits According to the NMEA standard the maximum number of characters between the starting delimiter or and the terminating lt CR gt lt LF gt should be 79 i e the maximum needed buff
27. he following command can be used SPUNV WAKEUP 2C STOP With STOP command the user can stop the navigation and erase different kind of data at the same time bitmask is a hexadecimal number without 0x prefix specifying the data to be erased It has the same set of possible values as for START command described in 3 3 4 The exception is Reset Configurations from FSH and RAM which should not be used with STOP command There is a number of predefined mnemonics to be used with the STOP command When alias is used the command has the following form alias is a mnemonic specifying the particular bitmask It has the same set of possible values as for START command described in 3 3 4 The only exceptions are FACTORY HOT and AUTO aliases which are not supported for STOP command STOP command in its simplest form is also supported SPUNV STOP 0 35 A ATHEROS Prepared by RB AM 3 3 8 3 3 9 3 3 10 3 3 11 Page 11 30 Date File name Rev 2008 03 20 NMEA_sdk doc 1 10 Please note that the confirmation for STOP command will be echoed only after the system has stopped Until that Orion will produce navigation data CONFIG With CONFIG command the user can change the configuration of the system The configuration takes effect immediately and it is also stored in non volatile media The format of CONFIG command is the following SPUNV CONFIG section ID Various number of c
28. omma separated fields cc section ID is a decimal number specifying the section ID It is 2 fixed decimal digits and leading zeros are mandatory Reply to this command is CFG_S sentence described in 3 3 14 SET With SET command the user can change the configuration of the system The configuration takes effect immediately but the new configuration is not stored in non volatile media The format of SET command is the following section ID is a decimal number specifying the section ID It is two fixed decimal digits and leading zeros are mandatory GETCONFIG By GETCONFIG command the user can read the configuration of the system The format of this message is as follows SPUNV GETCONFIG section ID cc section ID is a decimal number specifying the section ID It is two fixed decimal digits and leading zeros are mandatory Reply to this command is CFG_R sentence described in 3 3 13 VERSION By VERSION command the user can read version number string The format of this message is as follows SPUNV VERSION 6B The reply to this command is CFG_R sentence described in 3 3 13 This command is an alias to the command A ATHEROS Prepared by RB AM 3 3 12 3 3 13 3 3 14 3 3 15 Page 12 30 Date File name Rev 2008 03 20 NMEA_sdk doc 1 10 FOM This message is navigation PVT quality indicator i e figure of merit It has the following format fom a floating point n
29. onal part Df Fractional 0 1 0 003352810664 Flattening of datum decimal Name String up to 8 Please see WGS84 The name of the selected datum characters long Appendix A Datum codes for possible datum names Id Decimal Please see 1 Identifier of a pre defined datum Appendix A Datum codes for possible ID A ATHEROS Prepared by RB AM 3 4 7 Page 21 30 Date File name Rev 2008 03 20 NMEA_sdk doc 1 10 In case of successful execution of SPUNV CFG_S 13 51 In case of failure of execution of GETCONFIG CONFIG or SET command the receiver sends ERR reply message Please see ERR section for details Examples Default settings PUNV CONFIG 16 1 0D Position Pinning Configuration Position pinning configuration is for static case parameter configuration The current configuration can be read in the system by the following command threshold Position update timeout Deep mode _ delay 2 sreacquisition 2D all 2D cold cc The configuration command template for control configuration is as follows sreacquisition 2D all 2D cold cc SPUNV SET 17 Position threshold Velocity threshold 2D reacquisition 2D all 2D cold cc Table 3 10 Position pinning parameters Valid Default Description values value 50 Decimal with fractional part The threshold value for position jump Position pinning will be disabled if this value is reached in meters
30. s A Prepared by RB AM 3 4 3 Page 16 30 Date File name Rev 2008 03 20 NMEA_sdk doc 1 10 PUNV SET 03 HZ MZ cc Table 3 6 Time zone configuration Default value Valid values Description HZ Decimal 11 10 9 Hour zone It is an amount of full hour difference 999 not set from the GMT MZ Decimal 0 15 30 45 Minute zone It is an amount of extra minutes over 999 not set the full hours In case of successful execution of SPUNV CONFIG 03 HZ MZ cc command the receiver sends confirmation in a following form SPUNV CFG_S 03 50 In case of failure of execution of GETCONFIG CONFIG or SET command the receiver sends ERR reply message Please see ERR section for details Examples To set the 8 hour time zone PUNV CONFIG 03 8 0 31 Version Number Version configuration is used to deliver system version numbers If output protocol is NMEA then version numbers message is also reported after power on any commanded start command described in 3 3 4 section and after exiting sleep mode In this case version numbers message is used for notification that Orion s initialization sequence is complete and it is ready to accept commands The version numbers can be read by using the following command Orion is the Orion version string UBP is the UBP version number BB is the baseband type A ATHEROS Prepared by
31. umber 000 999 Please see section 3 4 1 describing the way how this message can be enabled CFG_R CFG_R sentence is a reply message for request of reading configuration This NMEA message contains all configuration information about the selected section section ID is a decimal number specifying the section ID It is two fixed decimal digits with leading zeros if necessary CFG_S CFG_S sentence is a reply message for request of changing configuration by PUNV CONFIG Command The format of the message is as follows SPUNV CFG_S section ID cc section ID is a decimal number specifying the modified section ID It is two fixed decimal digits with leading zeros if necessary This reply message is sent when configuration data is already successfully stored into non volatile memory flash ERR ERR is a reply message of an error in the system The format of the message is as follows ID is the ID of subsystem which detected the error Two decimal digits with leading zero if necessary error is the subsystem specific error number Five decimal digits with leading zero if necessary data is the error specific optional data Five decimal digits with leading zero if necessary A Prepared by RB AM 3 3 16 3 4 3 4 1 Page 13 30 Date File name Rev 2008 03 20 NMEA_sdk doc 1 10 This document describes only those error codes that occur with NMEA commands Table 3 4 Error codes

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