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3.2 maintenance mode

1. Use it like a GSM modem Configure the parameters Test the functionalities Diagnostic problems Once connected to the modem the user can use a complete set of AT commands to control all the modem functionalities This document is a complement to the AT COMMANDS MANUAL referenced WCOM GSM SW SII015 edited by Wavecom and available on the web This document describes the personalized commands for its use as a GPS positioning and time control device The J is basically made of a Wavecom modem and an Albatros GPS receiver from SENA GPS MU AMI 035 SN OPERATOR S MANUAL PAGE 1 1 NOVEMBER 2001 a SENA ISSUE 1 WP crs RELEASE 2 D e K AR This chapter describes how to set up an Amigo For more information about used commands refer to the corresponding chapters 3 USER INTERFACE on page 3 1 2 1 PHYSICAL INSTALLATION The steps to install physically the Amigo cable connexions etc are described in the Amigo User s manual ref MU AMI 034 SN 2 2 CONFIGURATION 2 2 1 Power up the Amigo Connect the data cable to a terminal PC with hyperterminal for example The terminal configuration must be 9600 8 N 1 On power up the modem prints a welcome message software version etc The Amigo start up in AT mode i e it only accepts AT commands Note all the configuration parameters are stored in the SIM module node number etc For a correct behavior of the modem it is necessary to wait th
2. ECEF X 2686700 meters X coordinate position ECER Y 4304200 meters Y coordinate position ECEF Z 3851624 meters Z coordinate position ClkOffse t 96000 Hz Clock Offset of the Albatros GPS TimeOfWeek 497260 seconds GPS Time Of Week WeekNo 921 GPS Week Number ChannelCount Range 1 to 12 ResetCfg See Table 2 5 2 2 b Checksum lt CR gt lt LF gt End of message termination 1 Use 0 for last saved value if available If this is unavailable a default value of 96 000 will be used Table 2 5 2 2 b Reset Configuration Description Hot Start All data valid Warm Start Ephemeris cleared Warm Start with Init Ephemeris cleared initialization data loaded Cold Start Clears all data in memory MU AMI 035 SN NOVEMBER 2001 Clear Memorv Clears all data in memory and resets receiver back to factory defaults OPERATOR S MANUAL PAGE 3 99 A SENA ISSUE 1 GPS RELEASE 2 3 5 2 3 102 SetDGPSPort Differential corrections are not available in the J GPS Receiver Therefore this message should not be used 3 5 2 4 103 Query Rate Control This command is used to control the output of standard NMEA messages GGA GLL GSA GSV RMC and VTG Using this command message standard NMEA messages may be polled once or setup for periodic output Checksums may also be enabled or disabled depending
3. Ease of implementation Efficient implementation f Independence from payload 3 4 2 Protocol Layers Transport Message Pavload Pavload Messaae i a a J tes Upto210 Two bvtes 1 OxYY denotes a hexadecimal byte value OxAO equals 160 MU AMI 035 SN OPERATOR S MANUAL PAGE 3 40 NOVEMBER 2001 A SENA ISSUE 1 GPS RELEASE 2 Transport The transport layer of the protocol encapsulates a GPS message in two start characters and two stop characters The values are chosen to be easily identifiable and unlikely to occur frequently in the data In addition the transport layer prefixes the message with a two byte 15 bit message length and a two byte 15 bit check sum The values of the start and stop characters and the choice of a 15 bit value for length and check sum ensure message length and check sum can not alias with either the stop or start code Message Validation The validation layer is of part of the transport but operates independently The byte count refers to the payload byte length The check sum is a sum on the payload 3 4 3 Payload Length The payload length is transmitted high order byte first followed by the low byte High Byte Low Byte lt Ox7F Any value Even though the protocol has a maximum length of 2 15 1 bytes practical considerations require the Albatros GPS module implementation to limit this value to a smaller number 3 4 4 Payload Data The payload data fo
4. TVNNVW S YOLVUadO GPS lt L LLI N MODEM GPS AMIGO a SENA GPS TABLE OF CONTENTS ISSUE 1 RELEASE 2 1 INTRODUCTION csssiedsscstiettansrieciastsrecinnmeeisannctetdonncieniens 1 1 2 QUICK START wsiicnssasicctivderinccnssdancccvddswecenseenssineedienmencedsens 2 1 2 1 PHYSICAL INSTALLATION ssssssssssssnsrrssssssrssrrrrrrrrrrrrern 2 1 2 2 CONFIGURATION ssssssssssssssssnrrrrrrrrrrrsrssrrrnrrrrrrrrrreene 2 1 2 2 1 Power up the AMIGO ssssssssssssrnnsnrrrsrrrrsnrresrrersnrene 2 1 2 2 2 Switch to maintenance mode cceeeeeee ee eeeeeeeaeees 2 1 2 2 3 Configuring the node NUMDEL ccceeeeeeeee eee eeeeeees 2 2 2 2 4 Configuring the control Center ccceesseeeeeeeeeeeeees 2 2 3 USER INTERFACE sisicvvcswinenssccccesbtanecsnernnecediwinserssennecaweuin 3 1 3 1 INTRODUCTION sssssssssssssssssssrrrrrrrrrrrrsresrssnrnrrrerrrrenre 3 1 3 2 MAINTENANCE MODE sssssssssssssnrrrrrrrssssrrrrrrrrrrrrrrsere 3 2 3 2 1 Help command 2 sido cccsconccntemsiiaasadsdsencsmsicuesaennceades 3 3 3 2 2 VERSION command sssssssssssssssrrrrrrssrrrrnrerrrrrrnrrnnn 3 3 3 2 3 TEST COMMANG iver ienncidmansoicicnetacasiaiebataetanien dinate 3 4 3 2 4 NODE COMMANA eccrine eea 3 4 3 2 5 BASE COMMANA taccroudciwrsssomarionsynradsiadenreeeeeieus 3 4 3 2 6 RADIUS COMMANO ceademnarcrrudansanimeraientievnrendde 3 5 3 2 7 CYCLES COMMANG serere oien a a 3 5 3 2 8 MAXTIME command ssssssssssssssrrrnsrrrnrrrrnsr
5. The AT ICF command is prohibited 3 3 2 11 Handshaking The hardware handshaking RTS CTS is fully supported The modem detects automatically the presence of RTS like a standard Wavecom modem to automatically enable hardware handshaking on startup 3 3 2 12 DCD DTR and DSR The AT amp D and AT amp S commands are fully supported However the AT amp C command is forbidden and the DCD line will behave like in the command AT amp C1 current carrier state MU AMI 035 SN OPERATOR S MANUAL PAGE 3 15 NOVEMBER 2001 A SENA ISSUE 1 WP crs RELEASE 2 3 3 2 13 Registering unsolicited codes AT CREG 1 The AT CREG 1 command is not yet supported 3 3 2 14 Return codes suppression ATQ The ATQ command is prohibited 3 3 2 15 Return codes format ATV The ATV command is prohibited 3 3 2 16 Modem Reset ATZ ATZ command is supported When the modem is reset the values stored in non volatile memory will be loaded as described in the Table 3 b parameters storage on page 3 37 After sending ATZ command a delay of 5 seconds must be observed after the command before 5 seconds the modem can answer ERROR or CME ERROR 515 to the command 3 3 2 17 Save configuration AT amp W The AT amp W command is supported The parameters will be stored in non volatile memory as described in the Table 3 b parameters storage on page 3 37 3 3 2 18 Restore configuration AT amp F AT amp F command is supported The values stored i
6. 5 2 AUTORESPONDING CYCLES The GPS modem can send periodically 4D frames with Autoresponding cycle reason accordingly to the cycle s configuration If the Amigo is configured to work only with text messages alarm text messages will be sent instead of 4D binary frames See chapter 4 4 2 Alarms with text messages on page 4 4 for more information The maximum number of autoresponding frames is limited Th limit value default 250 can be configured with AT SNGPSMAXCYCLES Cycles limitation on page 3 32 or with a remote configuration frame from a control center MU AMI 035 SN OPERATOR S MANUAL PAGE 5 1 NOVEMBER 2001
7. MU AMI 035 SN OPERATOR S MANUAL PAGE 3 27 NOVEMBER 2001 a SENA ISSUE 1 GPS RELEASE 2 PT 1 to 2 digits Is the signal power limit for a satellite to be tracked Any satellite below this mask will not be tracked Unit dB Hz DM 1 digit Is the DOP mask type to use v 0 Auto PDOP HDOP V 1 PDOP V 2 HDOP V 3 GDOP 4 Do not use DOP mask GD 1 to 3 digits Is the GDOP limit PD 1 to 3 digits Is the PDOP limit HD 1 to 3 digits Is the HDOP limit Ss 8B BB B Any parameter can be omitted In this case its value will not be altered If the last parameters are omitted the corresponding remaining commas can also be omitted 3 3 3 14 AT SNGPSINIT GPS initialization This command allows the user to init the GPS engine cold warm or hot start reset factory settings This command can be remotely called see 4 4 TEXT MESSAGES on page 4 2 Syntax AT SNGPSINIT MODE WNO TOW POSX POSY POSZ CLK lt CR gt Response OK lt CRLF gt lt NAME gt version lt X XX gt lt Comment about the version gt Actual mode Wavecom Modem AT commands Enter AT SNGPSMANT to switch to mantenim mode Description MODE 1 digit Start mode v1 Hot start MU AMI 035 SN OPERATOR S MANUAL PAGE 3 28 NOVEMBER 2001 a SENA ISSUE 1 GPS RELEASE 2 v 2 Warm start Any ephemeris data is lost Vv 4 Cold start Any almanac data is lost v8 Factory reset Any GPS data is lost WNO Is
8. S Am Chua Astro Paraguay S Am Yacare Uruguay Tananarive Observatory 25 Madagascar Timbalai 48 Brunei and E Malaysia Sarawak and Saba Tokyo Japan Korea Okinawa Voirol Algeria and Tunisia Indian special OPERATOR S MANUAL PAGE 3 26 A SENA ISSUE 1 GPS RELEASE 2 o 44 Luzon special o 45 Tokyo special o 46 WGS84 o 47 WGS72 o 178 Tokyo mean o 179 Tokyo Japan o 180 Tokyo Korea o 181 Tokyo Okinawa Any other DATUM value will be interpreted as WGS84 3 3 3 13 AT SNGPSMASK Read configure nav masks This command allows reading and configuring the navigation masks DOP Mask Elevation Mask and Power Mask Syntax AT SNGPSMASK lt CR gt To read the actual configuration AT SNGPSMASK EN ET PN PT DM GD PD HD lt CR gt To set new mask values Response SNGPSMASK EN ET PN PT DM GD PD HD lt CRLF gt OK lt CRLF gt Description EN 1 to 3 digits Is the elevation limit for a satellite to be used in a navigation solution Any satellite below this elevation will not be used in a navigation solution Unit 1 10 of degrees ET 1 to 3 digits Is the elevation limit for a satellite to be tracked Any satellite below this elevation will not be tracked Unit 1 10 of degrees PN 1 to 2 digits Is the signal power limit for a satellite to be used in a navigation solution Any satellite below this mask will not be used in a navigation solution Unit dB Hz
9. 1Hz Example A0A20038 Start Sequence and Payload Length 1C00000660D015F143F62C4113F42FF3FBE95E4 17B235C468C6964B8FBC5824 15CF1C375301734 03E801F400000000 Payload 1533B0B3 Message Checksum and End Sequence Table 2 4 7 15 a Measurement Data Binary Hex ASCII Decimal Name Bytes Units Scale Example Scale Example Message ID 1 1C 28 Channel 1 00 Time Tag 4 000660D0 ms Satellite ID 1 15 GPS Software 8 F143F62C4113F42F ms Time Pseudo range 8 F3FBE95E417B235C m Carrier 4 468C6964 Frequency Carrier Phase 8 B8FBC582415CF1C3 Time in Track 2 7530 ms Sync Flags 1 17 C No 1 1 34 MU AMI 035 SN OPERATOR S MANUAL PAGE 3 82 NOVEMBER 2001 a SENA ISSUE 1 GPS RELEASE 2 C No 2 1 C No 3 1 C No 4 1 C No 5 1 C No 6 1 C No 7 1 C No 8 1 C No 9 1 C No 10 1 Delta Ranae 2 03E801F4 m Interval Mean Delta 2 01F4 ms Range Time Extrapolation 2 0000 ms Time Phase Error 1 00 Count Low Power Count 1 00 Payload Length 56 bytes 3 4 7 16 Navigation Library DGPS Data Message I D 29 Output Rate Every measurement cycle full power continuous 1Hz Example A0OA2001A Start Sequence and Payload Length 1DOO0FOOB501BFC97C673CAAAAAB3FBFFE1240A 0000040A00000 Payload 0956B0B3 Message Checksum and End Sequence MU AMI 035 SN OPERATOR S MANUAL PAGE 3 83 NOVEMBER 2001 a
10. 1 A value of 0 requests all available ephemeris records otherwise the ephemeris of the Sv I D is requested 3 4 6 20 Switch Operating Modes Message I D 150 This command is reserved for manufacturing testing purposes only 3 4 6 21 Set TricklePower Parameters Message I D 151 Table 2 4 6 21 a contains the input values for the following example Sets the receiver into low power Modes Example Set receiver into Trickle Power at 1 Hz update and 200 ms On Time AOA20009 Start Sequence and Payload Length 97000000C8000000C8 Payload 0227B0B3 Message Checksum and End Sequence Table 2 4 6 21 a Set Trickle Power Parameters Binary Hex Description Scale Example Message ID 97 ASCII 151 Push To Fix Mode 0000 ON 1 OFF 0 Duty Cycle 00C8 Time ON Seconds On 000000C8 ranae 200 900 ms Payload Length 9 bytes MU AMI 035 SN OPERATOR S MANUAL PAGE 3 58 NOVEMBER 2001 SENA ISSUE 1 GPS RELEASE 2 If an update rate of 1 second is selected then the on time greater than 600ms is invalid 3 4 6 22 Computation of Duty Cycle and On Time The Duty Cycle is the desired time to be spent tracking The On Time is the duration of each tracking period range is 200 900 ms To calculate the TricklePower update rate as a function of Duty Cycle and On Time use the following formula Duty Cycle On Time Off Time ON TIME s ss 4e2 556s5 e se Duty Cycl
11. 1 O Use last know altitude 1 Use user input altitude 2 Use dynamic input from external source 2 0 Use direction hold and then time hold 1 Use time hold and then direction hold 2 Only use direction hold 3 Only use time hold 4 Degraded mode is disabled 3 0 True 1 False 4 0 Use DGPS if available 1 Only navigate if DGPS corrections are available 2 Never use DGPS corrections 5 0 True 1 False 6 0 ROM position 1 User position 2 SRAM position 3 Network assisted position 7 0 ROM time 1 User time 2 SRAM time 3 RTC time 4 Network assisted time 8 0 ROM clock 1 User clock 2 SRAM clock 3 Calibration clock 4 Network assisted clock MU AMI 035 SN OPERATOR S MANUAL PAGE 3 87 NOVEMBER 2001 a SENA ISSUE 1 GPS RELEASE 2 3 4 7 19 Development Data Message I D 255 Output Rate Receiver generated Example AOA2 Start Sequence and Payload Length FF Payload BOB3 Message Checksum and End Sequence Table 2 4 7 19 a Development Data Binary Hex ASCII Decimal Scale Example Scale Example FF 255 Payload Length Variable Note MID 255 is output when SiRF binarv is selected and development data is enabled The data output usina MID 255 is essential for SiRF assisted troubleshooting support 3 5 NMEA MODE The NMEA mode is fully compatible with the NMEA 0183 format defined by the National Marine Electronics Associati
12. Example Scale Example Message ID OB 11 Ack I D 92 Payload Length 2 bytes 3 4 7 9 Command NAcknowledgment Message I D 12 Output Rate Response to rejected input message This is an unsuccessful almanac message ID 0x92 request example AOA20002 Start Sequence and Payload Length 0C92 Payload OO9EBOB3 Message Checksum and End Sequence Table 2 4 7 9 a Command Nacknowledgment Binary Hex ASCII Decimal Scale Example Scale Example oc 12 92 Payload Length 2 bytes MU AMI 035 SN OPERATOR S MANUAL PAGE 3 77 NOVEMBER 2001 a SENA ISSUE 1 GPS RELEASE 2 3 4 7 10 Visible List Message I D 13 Output Rate Updated approximately every 2 minutes Note This is a variable lenath messaae Only the number of visible satellites is reported as defined bv Visible Svs in Table 2 4 7 10 a Maximum is 12 satellites Example AOA2002A Start Sequence and Payload Length 0D081D002A00320F009C0032 Payload BOB3 Message Checksum and End Sequence Table 2 4 7 10 a Visible List Binary Hex ASCII Decimal Scale Example Scale Example Message ID OD 13 Visible Svs 08 8 CH 1 Sv I D 10 16 CH 1 Sv Azimuth degrees 42 CH 1 Sv Elevation degrees 50 CH 2 Sv I D CH 2 Sv Azimuth degrees CH 2 Sv Elevation degrees 3 4 7 11 Almanac Data Message I D
13. Table 2 5 2 1 a contains the input values for the following example Switch to SiRF Binary protocol at 9600 8 N 1 PSRF100 0 9600 8 1 0 0C Table 2 5 2 1 a Set Serial Port Data Format Name Example Description Message ID PSRF100 PSRF100 protocol header Protocol 0 O SiRF Binarv 1 NMEA 4 maintenance modem Baud 4800 9600 19200 38400 DataBits 8 7 StopBits 0 1 Parity 0 None 1 Odd 2 Even Checksum lt CR gt lt LF gt End of message termination 1 Maintenance modem protocol should be 9600 8 N 1 2 SiRF protocol is only valid for 8 data bits 1stop bit and no parity 3 5 2 2 101 Navigation Initialization This command is used to initialize the modem 7 GPS Receiver by providing current position in X Y Z coordinates clock offset and time This enables the modem migo GPS Receiver to search for the correct satellite signals at the correct signal parameters Correct initialization parameters enable the modem Mmigo GPS Receiver to acquire signals quickly Table 2 5 2 2 a contains the input values for the following example Start using known position and time MU AMI 035 SN OPERATOR S MANUAL PAGE 3 98 NOVEMBER 2001 a SENA GPS PSRF101 2686700 4304200 3851624 96000 497260 921 12 3 1C ISSUE 1 RELEASE 2 Table 2 5 2 2 a Navigation Initialization Data Format Name Example Description Message ID PSRF101 PSRF101 protocol header
14. a SENA ISSUE 1 GPS RELEASE 2 Table 2 4 6 9 a DOP Mask Control Binary Hex Description Scale Example Message ID 89 ASCII 137 DOP Selection 00 See Table 2 4 6 9 b GDOP Value 08 Range 1 to 50 PDOP Value 08 Range 1 to 50 HDOP Value 08 Range 1 to 50 Payload Length 5 bytes Table 2 4 6 9 b DOP Selection Byte Value Description Auto PDOP HDOP PDOP HDOP GDOP Do Not Use 3 4 6 10 DGPS Control Message I D 138 The J GPS receiver does not support differential corrections Therefore this command should not be used 3 4 6 11 Elevation Mask Message I D 139 Table 2 4 6 11 a contains the input values for the following example MU AMI 035 SN OPERATOR S MANUAL PAGE 3 53 NOVEMBER 2001 a SENA GPS Example ISSUE 1 RELEASE 2 Set Navigation Mask to 15 5 degrees Tracking Mask is defaulted to 5 degrees A0A20005 Start Sequence and Payload Length 8B0032009B Payload 0158B0B3 Message Checksum and End Sequence Table 2 4 6 11 a Elevation Mask Binary Hex Description Scale Example Message ID 8B ASCII 139 Tracking Mask degrees Not currentlv used Navigation Mask degrees Ranae 20 0 to 90 0 Payload Length 5 bytes 3 4 6 12 Power Mask Message I D 140 Table 2 4 6 12 a contains the input values for the following example Example MU AMI 035 SN NOVEMBER 2001 Na
15. 00 00 00 00 00 00 Payload Length 41 bytes MU AMI 035 SN OPERATOR S MANUAL PAGE 3 64 NOVEMBER 2001 a SENA ISSUE 1 GPS RELEASE 2 1 For further information go to Table 2 4 7 1 b 2 Dilution of precision DOP field contains the HDOP value only 3 For further information go to Table 2 4 7 1 c Note Binarv units scaled to inteaer values need to be divided bv the scale value to receive true decimal value e a decimal vel binary Xvei 8 Table 2 4 7 1 b Mode 1 Description No Navigation Solution 1 Satellite Solution 2 Satellite Solution 3 Satellite Solution 2D gt 4 Satellite Solution 3D 2D Point Solution Least Square 3D Point Solution Least Square Dead Reckoning Trickle Power Position Altitude Used From Filter Altitude Used From User Forced Altitude From User DOP Mask Exceeded DGPS Position Example A value of O x 84 132 is a DGPS gt 4 Satellite Solution 3D MU AMI 035 SN OPERATOR S MANUAL PAGE 3 65 NOVEMBER 2001 a SENA ISSUE 1 GPS RELEASE 2 Table 2 4 7 1 c Mode 2 Description Sensor Data Validated 1 Unvalidated 0 if set Dead Reckoning Time Out if set Output Edited bv UI e a DOP Mask exceeded Reserved Reserved Reserved Reserved 3 4 7 2 Measured Tracker Data Out Message I D 4 Output Rate
16. 05 1 s See Appendix A for format Checksum 1 01 GSV Message 1 05 1 s See Appendix A for format Checksum 1 01 MSS Message 1 00 1 s Should alwavs be O DGPS not available Checksum 1 01 RMC Message 1 00 1 s See Appendix A for format Checksum 1 01 VTG Message 1 00 1 s See Appendix A for format Checksum 1 01 Unused Field 1 00 Recommended value MU AMI 035 SN OPERATOR S MANUAL PAGE 3 46 NOVEMBER 2001 SENA ISSUE 1 GPS RELEASE 2 Unused Field 1 01 Recommended value Unused Field 1 00 Recommended value Unused Field 1 01 Recommended value Unused Field 1 00 Recommended value Unused Field 1 01 Recommended value Unused Field 1 00 Recommended value Unused Field 1 01 Recommended value Baud Rate 2 12C0 38400 19200 9600 4800 2400 Payload Length 24 bytes 1 A value of 0x00 implies NOT to send message otherwise data is sent at 1 message every X seconds requested e g to request a message to be sent every 5 seconds request the message using a value of 0x05 Maximum rate is 1 255s 2 A value of 0x00 implies the checksum NOT transmitted with the message not recommended A value of 0x01 will have a checksum calculated and transmitted as part of the message recommended 3 4 6 3 Set Almanac Message I D 130 This command enables the user to upload an almanac file to the modem amiga GPS Receiver MU AMI 035 SN OPERATOR S MANUAL PAGE 3 47 NOVEMBER 2001 a SENA ISSUE 1 GPS RELEASE
17. 14 Output Rate Response to poll MU AMI 035 SN OPERATOR S MANUAL PAGE 3 78 NOVEMBER 2001 a SENA ISSUE 1 GPS RELEASE 2 Example A0A203A1 Start Sequence and Payload Length OE01 Payload BOB3 Message Checksum and End Sequence Table 2 4 7 11 a Almanac Data Binary Hex ASCII Decimal Scale Example Scale Example Message ID OE 14 Sv I D 01 1 AlmanacData 14 2 Payload Length 30 bytes Note Each almanac entry is output in a single message 3 4 7 12 Ephemeris Data Message I D 15 The ephemeris data that is polled from the receiver is in a special SiRF format based on the ICD GPS 200 format for ephemeris data 3 4 7 13 OkToSend Message I D 18 Output Rate Trickle Power CPU on off indicator Example AOA20002 Start Sequence and Payload Length 1200 Payload 0012BO0B3 Message Checksum and End Sequence MU AMI 035 SN OPERATOR S MANUAL PAGE 3 79 NOVEMBER 2001 a SENA ISSUE 1 GPS RELEASE 2 Table 2 4 7 13 a OkToSend parameters Binary Hex ASCII Decimal Scale Example Scale Example Message ID 12 18 Send Indicator 00 00 Payload Length 2 bytes 1 O implies that CPU is about to go OFF OkToSend NO 1 implies CPU has just come ON OkToSend YES 3 4 7 14 Navigation Parameters Message I D 19 Output Rate 1 Response to Poll Example A0OA20018 Start Sequence and Payload Length 13
18. 18 Poll Almanac Message I D 146 In response to this message receiver will return 32 almanac data packets one for each SVID available Table 2 4 6 18 a contains the input values for the following example Poll for the Almanac Example A0A20002 Start Sequence and Payload Length 9200 Payload 0092B0B3 Message Checksum and End Sequence MU AMI 035 SN OPERATOR S MANUAL PAGE 3 56 NOVEMBER 2001 gt SENA ISSUE 1 GPS RELEASE 2 Table 2 4 6 18 a Almanac Binary Hex Description Scale Example Message ID 92 ASCII 146 TBD 00 Reserved Payload Length 2 bytes 3 4 6 19 Poll Ephemeris Message I D 147 In response to this message the receiver will return a MID_Ephemeris message with the ephemeris data for the requested SV SV numbers range from 1 32 inclusive If SVID O is requested the module will respond by sending ephemeris data for all SV s Table 2 4 6 19 a contains the input values for the following example Poll for Ephemeris Data for all satellites Example A0OA20003 Start Sequence and Payload Length 930000 Payload 0092B0B3 Message Checksum and End Sequence Table 2 4 6 19 a Ephemeris Binary Hex Description Scale Example Message ID 93 ASCII 147 Sv I D 00 Range 0 to 32 TBD 00 Reserved Payload Length 3 bytes MU AMI 035 SN OPERATOR S MANUAL PAGE 3 57 NOVEMBER 2001 GPS RELEASE 2 A SENA ISSUE 1
19. 2 3 4 6 4 Software Version Message I D 132 Table 2 4 6 4 a contains the input values for the following example Poll the software version Example AOA20002 Start Sequence and Payload Length 8400 Payload 0084B0B3 Message Checksum and End Sequence Table 2 4 6 4 a Software Version Binary Hex Description Scale Example 84 ASCII 132 00 Reserved Payload Length 2 bytes Current version of the receiver software will be returned in response to this message in a zero terminated string format Note In the actual version the Poll SW Version command turns the GPS receiver in Maintenance Modem mode Therefore the module will not answer to this command MU AMI 035 SN OPERATOR S MANUAL PAGE 3 48 NOVEMBER 2001 gt SENA ISSUE 1 GPS RELEASE 2 3 4 6 5 DGPS Source Message I D 133 The j GPS receiver does not support differential corrections Therefore this command should not be used 3 4 6 6 Set Main Serial Port Message I D 134 Table 2 4 6 6 a contains the input values for the following example Set Main Serial port to 9600 n 8 1 Example A0A20009 Start Sequence and Payload Length 860000258008010000 Payload 0134B0B3 Message Checksum and End Sequence Table 2 4 6 6 a Set Main Serial Port Binary Hex Description Scale Example Message ID 86 decimal 134 Baud 00002580 38400 19200 9600 4800 2400 1200 Data Bits 08 8 7
20. 3 2 9 Data MOG CS sses a a E EEA 3 15 3 3 2 10 Communication format and speed ssssssssss 3 15 3 3 2 11 Handshaking s ssssssssssresrrrrsnrrssrrrrnrrrsnrrrene 3 15 3 3 2 12 DCD DTR and DSR vicincndesancarwoiceronasecedsvounanns 3 15 3 3 2 13 Registering unsolicited codes AT CREG 1 3 16 3 3 2 14 Return codes suppression ATQ ccccceeeeeeeaes 3 16 MU AMI 035 SN OPERATOR S MANUAL PAGE II NOVEMBER 2001 a SENA ISSUE 1 GPS RELEASE 2 3 3 2 15 Return codes format ATV viisiiciisiiaviwniiwerones 3 16 3 3 2 16 Modem Reset ATZ scicictcunssndisminenien deca vintemes 3 16 3 3 2 17 Save configuration ATRW ssssssssssrenrrrssrrrsne 3 16 3 3 2 18 Restore configuration AT amp F cccceceeee eee eaes 3 16 3 3 2 19 Show actual configuration AT amp V ccceeee eee 3 17 3 3 2 20 General indications AT WIND cccceeee eens 3 17 3 3 2 21 Wavecom downloading AT WDWL c e0 ee 3 17 3 3 3 Supplementary COMMAMNAS cccceeeee cess eeeeeeeeneeees 3 18 3 3 3 1 AT SNGPS Modem mode help c cceeseeeees 3 18 3 3 3 2 AT SNGPSMANT Switch to maintenance mode 3 18 3 3 3 3 AT SNGPSVER HW SW version cccceeeee eens 3 19 3 3 3 4 AT SNGPSPOS GPS position ccce cece eee 3 19 3 3 3 5 AT SNGPSVEL GPS velocity cccccesee esac eens 3 20 3 3 3 6 AT SNGPSTIME GPS time ccccccccccscceseeveseeneeen 3 21 3 3 3 7 AT SNGPSUTC UTC tiMe vinosarianoreicaccvmmaanenny 3 21 3 3 3 8 AT
21. 3 a lists the binary and ASCII message data format for the raw tracker data A0A20033 Start Sequence and Payload Length 05000000070013003F00EA1BD4000D039200009 783000DF45E 000105B5FF90F5C2000024282727232724242729 05000000070013003F Payload OB2DBOB3 Message Checksum and End Sequence MU AMI 035 SN NOVEMBER 2001 OPERATOR S MANUAL PAGE 3 69 a SENA GPS Table 2 4 7 3 a Raw Tracker Data Out Name Binary Hex Scale Example ISSUE 1 RELEASE 2 ASCII Decimal Scale Example Message ID 05 5 00000007 Z 0013 19 003F 0x3F Bit Number OOEA1BD4 15342548 Millisecond Number 000D 13 Chip Number 0392 chip 914 Code Phase 00009783 chip 38787 Carrier Doppler OOODF45E radians 2 914526 Receiver Time Tag 000105B5 66997 Delta Carrier 2 FF90F5C2 7277118 Search Count 0000 0 C No 1 24 36 C No 2 28 40 C No 3 27 39 C No 4 27 39 C No 5 23 35 C No 6 27 39 C No 7 24 36 C No 8 27 36 C No 9 29 39 C No 10 29 Power Bad Count 05 Phase Bad Count 07 Accumulation Time Track Loop Time MU AMI 035 SN NOVEMBER 2001 OPERATOR S MANUAL PAGE 3 70 SENA GPS ISSUE 1 RELEASE 2 Payload Length 51 bytes 1 For further infor
22. 400 will send an alarm when the discrete input is sampled twice at high level The alarm detection only starts when the GSM is ready WIND 4 unsolicited code sent if AT WIND is correctly configured 3 3 3 23 AT SNGPSNMEA switch to NMEA protocol This command switches the Amigo to NMEA protocol 4800 bauds Syntax AT SNGPSNMEA lt CR gt MU AMI 035 SN OPERATOR S MANUAL PAGE 3 36 NOVEMBER 2001 A SENA ISSUE 1 GPS RELEASE 2 Response OK lt CRLF gt The Amigo then resets and switches to NMEA protocol 4800 buads Description This command switches the Amigo to the NMEA protocol 4800 bauds To switch back to AT mode enter an AT command 3 3 4 Parameters storage in non volatile memory The Amigo can store most of its configuration in non volatile memory Some parameters will be stored in the SIM module others directly in the modem The Table 3 b parameters storage shows how parameters are stored in non volatile memory Table 3 b parameters TEE Commana ATaW AT amp W AT CSAS ATar K value emee lsm k C O ATSO aes ee SC cic AMIGO bk h VGR__ AMIGO X64 all speakers veT AMIGO X64 all microphones _ SPEAKER RESET 11 see notes SiDET AMIGO k hi errs fl fixe bwar A fixe emer lsm K h esou famcso k fo benm im x f1iooo esme AMIGO x fszoo CSCA RESET Depends on SIM card phase2 ccwA AMIGO Xd fixed er faAMiGg k fo cor
23. Gives a satellite graphic map Parameters N A Example MU AMI 035 SN OPERATOR S MANUAL PAGE 3 8 NOVEMBER 2001 A SENA ISSUE 1 Y GPS RELEASE 2 gt map N Channel SV Azim Elev State C No A 21 308 2L vSsses 0 Bo 9 32 68 CCBFE 41 C Channel free d Dg 2 50 9 s6s 6 0 a EB 2 26 142 51 CCBFE 35 3 30 225 13 CCBFE 40 K G Channel free B H 5 225 49 CCBFE 32 aS 18 264 326 S s 0 WH sS S545 5 S55 sSSS2e SSS SSoSSSSSsesess E J Channel free AN Ks 7 67 29 CCBFE 38 E 23 225 32 esses 0 H E 1 F gt Fields description see channels command 3 2 13 SIRF command Description Switch to SiRF protocol Parameters N A This command switch the modem to SiRF protocol with the following characteristics 38400 bauds 8 data bits no parity 1 stop bit After receiving this command the modem will only accept SiRF frames and will ignore any other data There are three ways to switch back to maintenance mode Insert the modem in its DockStation and remove it Erase completely the SRAM memory MU AMI 035 SN OPERATOR S MANUAL PAGE 3 9 NOVEMBER 2001 GPS RELEASE 2 a SENA ISSUE 1 Send a SiRF order frame to switch back to the named USER1 protocol In the actual software version the Poll SW Version SiRF frame causes the modem to switch to maintenance protocol Hence the modem will not answer the Poll SW Version command Note It is possible to switch directly to the NMEA proto
24. The value must be between 1 and 99999 The default value is 250 The new value is automatically stored in non volatile memory Resetting the Amigo will also reset the internal autoresponding cycles counter to 0 3 3 3 20 AT SNGPSDISC Discrete I O This command allows reading the discrete input and writing the discrete output This command can be remotely called see 4 4 TEXT MESSAGES on page 4 2 Syntax AT SNGPSDISC lt CR gt To read the discrete input AT SNGPSDISC X lt CR gt To set the discrete output state 0 to activate it set the level to OV 1 to deactivate it let the open drain port floating Response SNGPSDISC 1 lt CRLF gt only when reading the discrete input 1 means a high level gt 3V Oa low level lt 1V OK lt CRLF gt Description E The Amigo W has one discrete input isolated by an optocoupler and a discrete output open drain 4 The discrete input accepts levels from O to 12V The entry impedance value is 1000 ohms Any level inferior at 1V will be interpreted as 0 any level superior at 3V will interpreted as 1 MU AMI 035 SN OPERATOR S MANUAL PAGE 3 33 NOVEMBER 2001 SENA ISSUE 1 GPS RELEASE 2 The discrete output is an open drain 50mA max 12Vmax It is considered active at OV 3 3 3 21 AT SNGPSERR Internal error codes This command allows the user to enable or disable unsolicited error codes from the Amigo Syntax AT SNGPSERR lt CR gt To read the
25. Time Out 5 DR Time Out 2 Track Smoothing Yes AOA2000E Start Sequence and Payload Length 88010101010100000002140501 Payload OOA9BOB3 Message Sequence Checksum and End Table 2 4 6 8 a Mode Control Name Binary Hex Description Scale Example Message ID 88 ASCII 136 3D Mode O01 1 always true 1 Alt Constraint Not Used Degraded Mode See Table 2 4 6 8 b Reserved YES 1 NO 0 meters range 1 000 to 10 000 Auto 0 Always 1 Disable 2 Last Computed 0 Fixed to 1 Coast Time Out Not Used Degraded Time Out seconds O to 120 DR Time Out seconds O0 disabled 1 to 120 otherwise Track Smoothing MU AMI 035 SN NOVEMBER 2001 YES 1 NO 0 OPERATOR S MANUAL PAGE 3 51 a SENA ISSUE 1 GPS RELEASE 2 Payload Length 14 bytes Table 2 4 6 8 b Degraded Mode Byte Value Byte Value Description Use Direction then Clock Hold Use Clock then Direction Hold Direction Curb Hold Only Clock Time Hold Only Disable Degraded Modes 3 4 6 9 DOP Mask Control Message I D 137 Table 2 4 6 9 acontains the input values for the following example Auto Pdop Hdop Gdop 8 default Pdop 8 Hdop 8 Example AOA20005 Start Sequence and Payload Length 8900080808 Payload 00A1B0B3 Message Checksum and End Sequence MU AMI 035 SN OPERATOR S MANUAL PAGE 3 52 NOVEMBER 2001
26. actual state if the unsolicited error codes are enabled or not and to get the last error number AT SNGPSERR X lt CR gt To enable or disable unsolicited error codes 0 to disable 1 to enable default value Response SNGPSERR X YYY lt CRLF gt only when reading the state X is O or 1 0 unsolicited error codes disabled 1 enabled YYY 1 to 3 digits is the last occurred error code OK lt CRLF gt Description 4 By default the Amigo sends unsolicited error codes if it encounters an internal problem internal failure SIM card failure etc This command allows the user to enable or disable these unsolicited messages 6 The unsolicited error message format is the following SNGPSERROR XXX lt CRLF gt where XXX is a 1 to 3 digits error code 6 The error codes list is in the Table 3 a Amigo error codes Table 3 a Amigo error codes MU AMI 035 SN OPERATOR S MANUAL PAGE 3 34 NOVEMBER 2001 A SENA ISSUE 1 GPS RELEASE 2 No SIM inserted in the SIM connector or connector failure SIM failure The SIM card needs PIN PIN2 PUK o PUK2 code Unassigned number the Amigo internally intented to send a message to an unassigned number The network barred a call any call check SIM 604 605 ic i Coo fremens i Failed to send a message Check message center address or SIM card Internal error during phone initialization 3 3 3 22 AT SNGPSALARM discrete alarm configuration This command allows re
27. card need a few seconds to load when the Amigo is powered up The WIND 4 unsolicited code can be used to detect when the modem is ready with all updated parameters 2 The AT WIND command automatically stores its settings in non volatile memory AT amp F resets the value to 0 2 The AT SNGPSCYCLES command is divided in two parts gt The first parameter autoresponding time is automatically stored in non volatile memory when the configuration command is executed gt The other parameters are stored with the AT amp W command The commands ATZ and AT amp F do not alter the autoresponding time The AT SNGPSMAXCYCLES command automatically stores its value in the SIM card The default value will only be used when a new SIM is inserted The commands ATZ and AT amp F do no alter the parameter MU AMI 035 SN OPERATOR S MANUAL PAGE 3 39 NOVEMBER 2001 A SENA ISSUE 1 GPS RELEASE 2 3 4 SIRF MODE The SiRF mode communication parameters are the followings 38400 bauds 8 data bits no parity 1 stop bit This SiRF protocol is fully compatible with the SiRF specifications except for the Poll SW Version frame that currently switch the module to maintenance protocol 3 4 1 SiRF Binary Protocol The SiRF Binary Protocol is the standard interface protocol used by the modem niga GPS Receiver and other SENA GPS and SiRF products This serial communication protocol is designed to include Reliable transport of messages
28. gt OK lt CRLF gt MU AMI 035 SN OPERATOR S MANUAL PAGE 3 23 NOVEMBER 2001 A SENA ISSUE 1 WP crs RELEASE 2 Description XX is the navigation mode hexadecimal 1 to 2 digits See the SiRF documentation for more details 3 3 3 11 AT SNGPSDOPS Dilution of precision This command outputs the DOP of the actual solution This command can be remotely called see 4 4 TEXT MESSAGES on page 4 2 Syntax AT SNGPSDOPS lt CR gt Response SNGPSDOPS G GGGG H HHHH P PPPP T TTTT V VVVV lt CRLF gt OK lt CRLF gt Description GG GGGG is the GDOP Geometric Dilution of Precision HH HHHH is the HDOP Horizontal Dilution of Precision PP PPPP is the PDOP Position Dilution of Precision TT TTTT is the TDOP Time Dilution of Precision VV VVVV is the VDOP Vertical Dilution of Precision Each value has 4 decimals and a variable integer part length 1 or 2 digits The decimal separator is the point 3B 8 8 B B 3 3 3 12 AT SNGPSDATUM DATUM configuration This command allows reading and selecting the DATUM configuration Syntax AT SNGPSDATUM lt CR gt To read the actual DATUM AT SNGPSDATUM XxXX lt CR gt To select the DATUM to use XXX is the new DATUM number 1 to 3 digits Response SNGPSDATUM XXX lt CRLF gt only in case of DATUM reading MU AMI 035 SN OPERATOR S MANUAL PAGE 3 24 NOVEMBER 2001 A SENA ISSUE 1 GPS RELEASE 2 OK lt CRLF gt Description Currently supported D
29. lines MU AMI 035 SN OPERATOR S MANUAL PAGE 3 1 NOVEMBER 2001 GPS RELEASE 2 a SENA ISSUE 1 3 2 MAINTENANCE MODE The maintenance mode communication parameters are the followings 9600 bauds 8 data bits no parity 1 stop bit Any ASCII terminal can communicate with the modem Most terminal emulation options should be disabled Local echo must be disabled CR translation must not be enabled do not translate to CR LF The commands may be typed in uppercase or lowercase The Backspace key erases the last character typed The modem indicates it is ready to receive orders sending the prompt gt Due to the internal initialization of the modem some commands are available only after a few seconds The Amigo notifies when it is ready to process all commands sending GSM init done MU AMI 035 SN OPERATOR S MANUAL PAGE 3 2 NOVEMBER 2001 3 2 1 Help command Description Parameters Example Prints all mode N A gt P AMIGO commands available commands ISSUE 1 RELEASE 2 in maintenance Show help VERSION Software version TEST Test hardware NODO Node configuration NODE Node configuration CM SMS center config TELEFONO GSM base configuration BASE GSM base configuration RADIO Radius configuration RADIUS Radius configuration CICLOS Cycles configuration CYCLES Cycles configuration TIEMPO Max allowed time alarm MAXTIME Max allowed time alarm HORA Local time confi
30. message termination 3 5 1 3 GSA GNSS DOP and Active Satellites Table 2 5 1 3 a contains the values for the following example GPGSA A 3 07 02 26 27 09 04 15 1 8 1 0 1 5 33 MU AMI 035 SN OPERATOR S MANUAL PAGE 3 91 NOVEMBER 2001 a SENA GPS Table 2 5 1 3 a GSA Data Format Name Example Description ISSUE 1 RELEASE 2 Message ID GPGSA GSA protocol header Mode 1 A See Table 2 5 1 3 b Mode 2 3 See Table 2 5 1 3 c Satellite Used 07 Sv on Channel 1 Satellite Used Sv on Channel 2 Satellite Used Sv on Channel 12 PDOP Position Dilution of Precision HDOP Horizontal Precision Dilution of VDOP Vertical Dilution of Precision Checksum lt CR gt lt LF gt 1 Satellite used in solution Table 2 5 1 3 b Mode 1 End of message termination Description Manual forced to operate in 2D or 3D mode 2D 3D Table 2 5 1 3 c Mode 2 2DAutomatic allowed to automatically switch Description Fix Not Available 2D MU AMI 035 SN NOVEMBER 2001 3D OPERATOR S MANUAL PAGE 3 92 a SENA GPS ISSUE 1 RELEASE 2 3 5 1 4 GSV GNSS Satellites in View Table 2 5 1 4 a contains the values for the following example GPGSV 2 1 07 07 79 048 42 02 51 062 43 26 36 256 42 27 27 138 4 2 71 GPGSV 2 2 07 09 23 313 42 04 19 159 41 15 12 041
31. meters will return an error AAAA and BBBB Are respectively the latitude and the longitude of the circle center in degrees The decimal separator is the point The read values are given with 6 decimals but it is possible to set values with up to 9 decimals The radius type is always the same the alarm will occur if the GPS module gets out of the defined circle Any parameter can be omitted In this case its value will not be altered If the last parameters are omitted the corresponding remaining commas can also be omitted 3 3 3 18 AT SNGPSCYCLES Modem cycles configuration This command allows reading and setting the cycle s configuration Syntax AT SNGPSCYCLES lt CR gt To read the actual configuration AT SNGPSCYCLES TA TP TV TT TU TS TM TD lt CR gt To set a new configuration Response SNGPSCYCLES TA TP TV TT TU TS TM TD lt CRLF gt only in case of reading OK lt CRLF gt Description MU AMI 035 SN OPERATOR S MANUAL PAGE 3 31 NOVEMBER 2001 A SENA ISSUE 1 GPS RELEASE 2 TA Is the Autoresponding time in seconds 30s minimum 60000s maximum O will disable autoresponding cycles Immediately after receiving a new valid configuration setting the GPS module will send its first position to the GSM control center TP TV TT TU TS TM and TD Control respectively the output periodicity of position velocity time UTC satellites navigation mode and navigation DOPs For each
32. on the needs of the receiving program NMEA message settings are saved in battery backed memory for each entry when the message is accepted Table 2 5 2 4 a contains the input values for the following examples 1 Query the GGA message with checksum enabled PSRF103 00 01 00 01 25 2 Enable VTG message for a 1 Hz constant output with checksum enabled PSRF103 05 00 01 01 20 3 Disable VTG message PSRF103 05 00 00 01 21 MU AMI 035 SN OPERATOR S MANUAL PAGE 3 100 NOVEMBER 2001 SENA ISSUE 1 GPS RELEASE 2 Table 2 5 2 4 a Query Rate Control Data Format See example 1 Name Example Description Message ID PSRF103 PSRF103 protocol header Msg 00 See Table 2 5 2 4 b Mode 01 0 SetRate 1 Query Rate 00 seconds Output off 0 max 255 CksumEnable 0 Disable Checksum 1 Enable Checksum Checksum lt CR gt lt LF gt End of message termination Table 2 5 2 4 b Messages Description GGA GLL GSA GSV MU AMI 035 SN OPERATOR S MANUAL PAGE 3 101 NOVEMBER 2001 gt SENA ISSUE 1 GPS RELEASE 2 3 5 2 5 104 LLA Navigation Initialization This command is used to initialize the modem j GPS Receiver by providing current position in latitude longitude and altitude coordinates clock offset and time This enables the receiver to search for the correct satellite signals at the correct signal parameters Correct initialization parameters enabl
33. phone number the base phone number Alarms and autoresponding cycles will be sent in binary format 4 4 1 Text order format The text message must be sent in 7 bit format default when sent from a mobile phone The format is the following XXXXXXXXYYYYYYY XXXXXXXX is the Amigo s node number 8 digit YYYYYYY is a GPS order The GPS orders are obtained from the AT SNGPS orders removing the AT SNGPS prefix Not all orders are available remotely for security reasons See the corresponding documentation for each GPS command to know if it is remotely available The Amigo will always answer a correct order If the order is a query type order position request for example the answer will be sent to the phone number that sent the order If the order does not waits for a specific answer the modem will answer with the text message AMIGO OK If the order fails parameter error etc the modem will answer with the text message AMIGO ERROR If the order is not recognized syntax error incorrect node number etc the modem will not answer The incoming text message will be delivered to the user to the maintenance port MU AMI 035 SN OPERATOR S MANUAL PAGE 4 3 NOVEMBER 2001 A SENA ISSUE 1 GPS RELEASE 2 Example 1 the text message 00000002POS is sent to the Amigo with node number 2 It will answer SNGPSPOS 2 4 0 70710951 0 06383870 990 258 Example 2 the text message 00000002DISC 0 is sen
34. sss Status A A data valid or V data not valid Latitude 3723 2475 ddmm mmmm N S Indicator N N north or S south Longitude 12158 3416 dddmm mmmm E W Indicator W E east or W west Speed Over Ground 0 13 knots Course Over Ground 309 62 degrees True Date 120598 ddmmyy Magnetic Variation degrees E east or W west Checksum lt CR gt lt LF gt End of message termination 1 Albatros GPS receiver does not support magnetic declination All course over ground data are geodetic WGS84 directions MU AMI 035 SN OPERATOR S MANUAL PAGE 3 94 NOVEMBER 2001 a SENA ISSUE 1 GPS RELEASE 2 3 5 1 7 VTG Course Over Ground and Ground Speed Table 2 5 1 7 a contains the values for the following example GPVTG 309 62 T M 0 13 N 0 2 K 6E Table 2 5 1 7 a VTG Data Format Name Example Description Message ID GPVTG VTG protocol header Course 309 62 degrees Measured heading Reference T True Course degrees Measured heading Reference Magnetic 1 Speed knots Measured horizontal speed Units Knots Speed Measured horizontal speed Units Kilometers per hour Checksum lt CR gt lt LF gt End of termination 1 Albatros GPS receiver does not support magnetic declination All course over ground data are geodetic WGS84 directions MU AMI 035 SN NOVEMBER 2001 OP
35. the extended GPS week number extended value NOT the modulo 1024 value TOW Is the Time Of Week number of seconds elapsed from the beginning of the current GPS week POSX POSY and POSZ Are the estimated ECEF coordinates of the GPS Receiver position in meters CLK Is the Clock OFFSET in Hertz Any parameter can be omitted In this case its value will not be altered If the last parameters are omitted the corresponding remaining commas can also be omitted It the first parameter is missing a cold start will be done by default The Amigo will reset only if MODE is equal to 8 For other values it will only answer OK 3 3 3 15 AT SNGPSNODE Node number configuration This command allows reading and configuring the node number Syntax AT SNGPSNODE lt CR gt To read the actual configuration AT SNGPSNODE NNN lt CR gt To set a new node number Response SNGPSNODE NNN lt CRLF gt only in case of reading OK lt CRLF gt Description NNN Is the node number 1 to 9 digits 0 not allowed MU AMI 035 SN OPERATOR S MANUAL PAGE 3 29 NOVEMBER 2001 a SENA ISSUE 1 is GPS RELEASE 2 3 3 3 16 AT SNGPSBASE GSM control center configuration This command allows reading and setting the GSM control center base configuration This control center is used for remote configuration of the modem and to receive and centralize data from the GPS module Syntax AT SNGPSBASE lt CR gt
36. value v The output periodicity is given in seconds 1 minimum 255 maximum O to disable the corresponding output This time should not be used by the user as a time base since the periodicity accuracy is not warranted v The periodicity activation modification automatically reloads a timer that periodically sends the requested message v The periodic messages output format is exactly the same as the commands format AT SNGPSPOS AT SNGPSVEL AT SNGPSTIME AT SNGPSUTC AT SNGPSSV AT SNGPSMODE and AT SNGPSDOPS v The periodic messages output is suspended while the user is waiting for the answer of a GSM user command e g dial SMS reading etc Any parameter can be omitted In this case its value will not be altered If the last parameters are omitted the corresponding remaining commas can also be omitted 3 3 3 19 AT SNGPSMAXCYCLES Cycles limitation This command allows reading and setting the autoresponding cycles limitation Syntax AT SNGPSMAXCYCLES lt CR gt To read the actual configuration AT SNGPSMAXCYCLES N lt CR gt To set a new configuration Response SNGPSMAXCYCLES N lt CRLF gt only in case of reading MU AMI 035 SN OPERATOR S MANUAL PAGE 3 32 NOVEMBER 2001 GPS RELEASE 2 A SENA ISSUE 1 OK lt CRLF gt Description Cc N is the maximum number of autoresponding cycles After N autoresponding cycles sent the autoresponding cycles configuration will be erased time set to 0
37. 0100000000011E3C0104001E004B1E0000050 0016400C8 Payload 022DBO0B3 Message Checksum and End Sequence Table 2 4 7 14 a Navigation Parameters Binary Hex ASCII Decimal Name Bytes Units Scale Example Scale Example Message ID 1 13 19 Reserved 4 Altitude Hold Mode 1 00 0 Altitude Hold Source 1 00 0 Altitude Source 2 0000 meters 0 Input Degraded Mode 1 01 1 MU AMI 035 SN OPERATOR S MANUAL PAGE 3 80 NOVEMBER 2001 j SENA ISSUE 1 RELEASE 2 Degraded Timeout 1 1E seconds 30 DR Timeout 1 3C seconds 60 Track Smooth Mode 1 01 1 Static Navigation 1 3SV Least Squares 1 Reserved 4 DOP Mask Mode 1 04 4 Naviaation Elevation 2 Mask Naviaation Power 1 Mask Reserved 4 DGPS Source 1 DGPS Mode 1 00 0 DGPS Timeout 1 1E seconds 30 Reserved 4 LP Push to Fix 1 LP On time 4 LP Interval 4 LP User Tasks 1 Enabled LP User Task 4 Interval LP Power Cvclina 1 Enabled LP Max Aca Search 4 Time LP Max Off Time 4 Reserved 4 Reserved 4 Payload Length 65 bytes 1 See Table 2 4 6 8 a 2 See Table 2 4 6 9 a 3 Do not use MU AMI 035 SN OPERATOR S MANUAL NOVEMBER 2001 PAGE 3 81 a SENA ISSUE 1 GPS RELEASE 2 3 4 7 15 Navigation Measurement Data Message I D 28 Output Rate Every measurement cycle full power continuous
38. 1 b Payload Length 25 bytes MU AMI 035 SN OPERATOR S MANUAL PAGE 3 44 NOVEMBER 2001 s ISSUE 1 GPS RELEASE 2 Table 2 4 6 1 b Reset Configuration Bitmap Description Data valid flag set warm hot start Clear ephemeris set warm start Clear memory set cold start Factory Reset Enable debua output data for naviaation librarv YES 1 NO 0 Enable debua data for SiRF binarv protocol YES 1 NO 0 Enable debua data for NMEA protocol YES 1 NO 0 Reserved must be 0 3 4 6 2 Switch To NMEA Protocol Message I D 129 Table 2 4 6 2 a contains the input values for the following example Request the following NMEA data at 4800 baud GGA ON at 1 sec GLL OFF GSA ON at 5 sec GSV ON at 5 sec RMC OFF VTG OFF MU AMI 035 SN OPERATOR S MANUAL PAGE 3 45 NOVEMBER 2001 a SENA ISSUE 1 GPS RELEASE 2 Example A0A20018 Start Sequence and Payload Length 810201010001050105010001000100010001000 1000112C0 Payload 016AB0B3 Message Checksum and End Sequence Table 2 4 6 2 a Switch To NMEA Protocol Binary Hex Name Bytes Units Description Scale Example Message ID 1 81 ASCII 129 Mode 1 02 1 s Alwavs 0x02 to switch to NMEA mode GGA Message 1 01 See Appendix A for format Checksum 1 01 GLL Message 1 00 1 s See Appendix A for format Checksum 1 01 GSA Message 1
39. 1 Hz Table B 39 lists the binary and ASCII message data format for the measured tracker data Example AOA200BC Start Sequence and Payload Length 04036C0000937FOCOEAB46003F1A1E1D1D191D 1A1A1D1F1D59423F1A1A Payload BOB3 Message Checksum and End Sequence MU AMI 035 SN OPERATOR S MANUAL PAGE 3 66 NOVEMBER 2001 a SENA ISSUE 1 GPS RELEASE 2 Table 2 4 7 2 a Measured Tracker Data Out Binary Hex ASCII Decimal Name Scale Example Scale Example Message ID 04 4 GPS Week 036C GPS TOW 0000937F Chans oc 1st SVid OE Azimuth Az 2 3 2 3 Elev EI 2 2 State C No 1 C No 2 C No 3 C No 4 C No 5 C No 6 C No 7 C No 8 C No 9 C No 10 2nd SVid Azimuth Az 2 3 deg 2 3 Elev EI 2 deg 2 State Bitmap 1 C No 1 C No 2 Payload Length 188 bytes MU AMI 035 SN NOVEMBER 2001 OPERATOR S MANUAL PAGE 3 67 a SENA ISSUE 1 GPS RELEASE 2 1 For further information go to Table 2 4 7 2 b Note Messaae lenath is fixed to 188 bvtes with nontrackina channels reporting zero values Table 2 4 7 2 b TrktoNAVStruct trk_status Field Definition Field Definition Hex Value Description ACQ_SUCCESS 0x0001 Set if aca reaca is done successfully DELTA_CARPHASE_VALID 0x0002 Set Intearated carrier phase is valid BIT_SY
40. 18 Navigation Initialization Data Message I D 31 3 85 3 4 7 19 Development Data Message I D 255 3 88 3 9 NMEA MODE wecihamee ce eio ir nie athens AE GE a 3 88 3 5 1 NMEA Output MessageS ssssssssserrsrssrenrnrrnresrennns 3 89 3 5 1 1 GGA Global Positioning System Fixed Data 3 89 3 5 1 2 GLL Geographic Position Latitude Longitude 3 91 3 5 1 3 GSA GNSS DOP and Active Satellites 3 91 3 5 1 4 GSV GNSS Satellites in ViOW cc cece ec ee cee eeeees 3 93 3 5 1 5 MSS MSK Receiver Signal cccccsesseeeeeeees 3 94 3 5 1 6 RMC Recommended Minimum Specific GNSS Data3 94 3 5 1 7 VTG Course Over Ground and Ground Speed 3 95 3 5 2 NMEA Input MESSAGES iniciterssiowscineriarbacrideioewcnudonss 3 96 3 5 2 1 100 SetSerialPort sssssssssasrnrrsnnrsarsarerenrani 3 97 3 5 2 2 101 Navigation Initialization cece ee 3 98 MU AMI 035 SN OPERATOR S MANUAL PAGE VI NOVEMBER 2001 a SENA ISSUE 1 GPS RELEASE 2 3 5 2 3 102 SetDGPSPort s sssssessessesusnnrnnnrrrrrreeree 3 100 3 5 2 4 103 Query Rate Control ssssssssssrrsrrrrrsresn 3 100 3 5 2 5 104 LLA Navigation Initialization 0 3 102 3 5 2 6 105 Development Data On Off cceeeee ees 3 103 3 5 2 7 MSK MSK Receiver Interface ceeeeeee ees 3 104 3 6 DOCKSTATION MOD Eiissicnsunscteencumierivndidivatebraionmaons 3 104 3 6 1 HEPOCUCTION cc diuncctinncii
41. 2 lt CRLF gt SNGPSCH XX3 AA3 EE3 SR3 lt CRLF gt SNGPSCH XXn AAn EEn SRn lt CRLF gt OK lt CRLF gt Description Only appear the active channels 12 max Each field is of variable length separated by commas without space XXi is the satellite number 1 to 32 MU AMI 035 SN OPERATOR S MANUAL PAGE 3 22 NOVEMBER 2001 A SENA ISSUE 1 WP crs RELEASE 2 AAi is the satellite azimuth 0 a 359 degrees 1 to 3 digits north 0 East 90 EEi is the satellite elevation 0 to 90 degrees 1 to 2 digits horizon O vertical 90 SR is the Noise Signal ratio in dB Hz 1 to 2 digits 3 3 3 9 AT SNGPSSV used satellites in the navigation This command outputs the list of used satellites in the navigation solution This command can be remotely called see 4 4 TEXT MESSAGES on page 4 2 Syntax AT SNGPSSV lt CR gt Response SNGPSSV N S1 S2 Sn lt CRLF gt OK lt CRLF gt Description Only appear the satellites used in the navigation solution 12 max Nis the number of satellites in the response Siis the satellite number 1 to 32 The satellites can be in any order f The list may be empty N 0 3 3 3 10 AT SNGPSMODE Navigation mode This command outputs the navigation mode like it is defined in the SiRF protocol This command can be remotely called see 4 4 TEXT MESSAGES on page 4 2 Syntax AT SNGPSMODE lt CR gt Response SNGPSMODE XX lt CRLF
42. 4 7 6 a 50 BPS Data Binary Hex ASCII Decimal Scale Example Scale Example 08 8 00 0 19 25 Payload Length 43 bytes per subframe 5 subframes per page Note Data is loaaed in ICD format available from www navcen usca mil The ICD specification is 30 bit words The output above has been stripped of paritv to aive a 240 bit frame instead of 300 bits 3 4 7 7 CPU Throughput Message I D 9 Output Rate 1 Hz MU AMI 035 SN OPERATOR S MANUAL PAGE 3 75 NOVEMBER 2001 gt SENA GPS Example ISSUE 1 RELEASE 2 A0OA20009 Start Sequence and Payload Length 09003B0011001601E5 Payload 0151BO0B3 Message Checksum and End Sequence Table 2 4 7 7 a CPU Throughput Binary Hex ASCII Decimal Scale Example Scale Example Message ID 09 9 SegStatMax milli s SegStatLat milli s AvetTrkTime milli s Last MS milli s Payload Length 9 bytes 3 4 7 8 Command Acknowledgment Message I D 11 Output Rate Response to successful input message This is successful almanac message ID 0x92 request example MU AMI 035 SN NOVEMBER 2001 AOA20002 Start Sequence and Payload Length OB92 Payload OO9DBOB3 Message Checksum and End Sequence OPERATOR S MANUAL PAGE 3 76 a SENA ISSUE 1 GPS RELEASE 2 Table 2 4 7 8 a Command Acknowledgment Binary Hex ASCII Decimal Scale
43. 42 41 Table 2 5 1 4 a GSV Data Format Name Example Description Message ID GPGSV GSV protocol header Number of Messages 2 Range 1 to 3 Message Number 1 Range 1 to 3 Satellites in View 07 Satellite ID 07 Channel 1 Range 1 to 32 Elevation 79 degrees Channel 1 Maximum 90 Azimuth degrees Channel 1 True Ranae O to 359 SNR C No dBHz Ranae O to 99 null when not tracking Satellite ID Channel 4 Range 1 to 32 Elevation degrees Channel 4 Maximum 90 Azimuth degrees Channel 4 True Ranae O to 359 SNR C No dBHz Ranae O to 99 null when not tracking Checksum lt CR gt lt LF gt End of message termination 1 Depending on the number of satellites tracked multiple messages of GSV data may be required MU AMI 035 SN NOVEMBER 2001 OPERATOR S MANUAL PAGE 3 93 a SENA ISSUE 1 GPS RELEASE 2 3 5 1 5 MSS MSK Receiver Signal Differential corrections are not available in the J GPS Receiver Therefore this message should not be used 3 5 1 6 RMC Recommended Minimum Specific GNSS Data Table 2 5 1 6 a contains the values for the following example GPRMC 161229 487 A 3723 2475 N 12158 3416 W 0 13 309 62 120 598 10 Table 2 5 1 6 a RMC Data Format Name Example Description Message ID GPRMC RMC protocol header UTC Time 161229 487 hhmmss
44. 95431313920534D00000 00000 Payload 0382B0B3 Message Checksum and End Sequence Table 2 4 7 4 aSoftware Version String Binary Hex ASCII Decimal Scale Example Scale Example Message ID 06 6 Character 1 2 Payload Length 21 bytes 1 06312E322E30444B495431313920534D0000000000 2 1 2 0DKit119 SM MU AMI 035 SN OPERATOR S MANUAL PAGE 3 73 NOVEMBER 2001 ISSUE 1 RELEASE 2 3 4 7 5 Response Clock Status Data Message I D 7 Output Rate 1 Hz or response to polling message Example A0A20014 Start Sequence and Payload Length 0703BD021549240822317923DAEF Payload 0598B0B3 Message Checksum and End Sequence Table 2 4 7 4 a Clock Status Data Message Binary Hex ASCII Decimal Name Scale Example Scale Example Message ID 07 7 GPS Week 03BD 957 GPS TOW 02154924 349494 12 Svs 08 8 Clock Drift Hz 74289 Clock Bias nanos 128743715 Estimated GPS milli s 349493999 Time Payload Length 20 bytes MU AMI 035 SN OPERATOR S MANUAL PAGE 3 74 NOVEMBER 2001 GPS RELEASE 2 gt SENA ISSUE 1 3 4 7 6 50 BPS Data Message I D 8 Output Rate As available 12 5 minute download time Example AOA2002B Start Sequence and Payload Length 08001900C0342A9B688AB0113FDE2D714FA0A7F FFACC5540157EFFEEDFFFA 80365A867FC67708BEB5860F4 Payload 15AABOB3 Message Checksum and End Sequence Table 2
45. ATOR S MANUAL PAGE 2 2 NOVEMBER 2001 a SENA ISSUE 1 WP crs RELEASE 2 3 1 INTRODUCTION The user interface to communicate with the modem is provided by the serial port on the sub D connector The user may connect a text terminal or a computer with a Procomm like terminal emulator HyperTerminal for example to be able to type and send orders and receive the modem answers The Mmigo GPS modem has five user interface modes Maintenance mode compatible with the PROTEUS GPS from SENA GPS maintenance mode The available commands are listed in the chapter MAINTENANCE MODE on page 3 2 Modem mode this is the default mode It allows direct access to the GSM modem Report to chapter MODEM MODE on page 3 13 for more details f SiRF mode fully compatible with the SiRF GPS protocol NMEA mode fully compatible with the format NMEA 0183 defined by the National Marine Electronics Association Standard for Interfacing Marine Electronic Devices version 2 20 01 01 1997 DockStation mode this mode is automatically activated when the modem is inserted in its programming dock station This mode only exists when the modem is in handheld configuration The dock station fulfils a double mission recharge the GPS accumulators and configure user GPS parameters In DockStation mode the protocol is considerably reduced to match the dock station capabilities numeric only keyboard and LCD screen 2 16 characters alphanumeric
46. ATUMS o 1 WGS84 o 2 Ethiopia Mali Senegal Sudan o 3 Botswana Lesotho Malawi Zaire Zambia Zimbabwe o4 Australia and Tasmania o 5 Bukit Rimpah Indonesia o 6 Camp Area Astro Antarctic o 7 Djakarta Sumatra Island o 8 European 1950 o 9 Geodetic Datum 49 New Zealand o 10 Ghana WGS84 o 11 Great Britain 36 England Isle of Man Shetland Isles Wales o 12 Guam 1963 o 13 Gunung Segara S E Borneo o 14 Gunung Serindung S W Borneo o 15 Herat North Afghanistan o 16 Hjorsey 1955 Iceland o 17 Hu Tzu Shan Taiwan o 18 India Thailand Nepal Vietnam Bangladesh o 19 Ireland 1965 o 20 Kertau Malayan Rev d Triangulation West Malaysia and Singapore MU AMI 035 SN OPERATOR S MANUAL PAGE 3 25 NOVEMBER 2001 A SENA GPS o 21 o 22 o 23 o 24 o 25 o 26 o 27 o 28 o 29 o 30 o 31 o 32 o 33 o 34 o 35 o 36 o 37 o 38 o 39 o 40 o 41 o 42 o 43 MU AMI 035 SN NOVEMBER 2001 ISSUE 1 RELEASE 2 Liberia 1964 WGS84 Luzon Philippines excluding Mindanao Merchich Morocco Montjong Lowe Celebes Island Nigeria North Am 1927 CONUS NAD 27 North Am 1927 Alaska Canada Old HA Maui Old HA Oahu Old HA Kauai Qornog S Greenland SierraLeone 60 S Am Provisional 56 Bolivia Chile Colombia Ecuador Guyana Peru Venezuela S Am Corrego Alegre Brazil S Am Campo Inchauspe Argentina
47. ERATOR S MANUAL PAGE 3 95 a SENA ISSUE 1 GPS RELEASE 2 3 5 2 NMEA Input Messages NMEA input messages are provided to allow you to control the modem Amigo while in NMEA protocol mode The GPS Receiver may be put into NMEA mode by sending the SiRF Binary protocol message Switch To NMEA Protocol Message I D 129 using a user program and selecting Switch to NMEA Protocol from the Action menu If the receiver is in SiRF Binary mode all NMEA input messages are ignored Once the receiver is put into NMEA mode the following messages may be used to command the module Transport Message Start Sequence Payload Checksum End Sequence PSRF lt MID gt Data CKSUM lt CR gt lt LF gt 1 Message Identifier consisting of three numeric characters Input messages begin at MID 100 2 Message specific data Refer to a specific message section for lt data gt lt data gt definition 3 CKSUM is a two hex character checksum as defined in the NMEA specification Use of checksums is required on all input messages 4 Each message is terminated using Carriage Return CR Line Feed LF which is r n which is hex OD OA Because r n are not printable ASCII characters they are omitted from the example strings but must be sent to terminate the message and cause the receiver to process that input message Note All fields in all proprietary NMEA messaaes are required none are optional All NMEA messages are comma delim
48. Indicator N N north or S south Longitude 12158 3416 dddmm mmmm E W Indicator W E east or W west Position Fix Indicator 1 See Table 2 5 1 1 b Satellites Used 07 Range 0 to 12 HDOP Horizontal Dilution of Precision MSL Altitude 1 F meters Units meters Geoid Separation meters Units meters Age of Diff Corr second Null fields when DGPS is not used Diff Ref Station ID Checksum lt CR gt lt LF gt End of message termination 1 Albatros GPS Receiver does not support geoid corrections Values are WGS84 ellipsoid heights Table 2 5 1 1 b Position Fix Indicator Description Fix not available or invalid GPS SPS Mode fix valid Differential GPS SPS Mode fix valid GPS PPS Mode fix valid MU AMI 035 SN OPERATOR S MANUAL PAGE 3 90 NOVEMBER 2001 a SENA ISSUE 1 GPS RELEASE 2 3 5 1 2 GLL Geographic Position Latitude Longitude Table 2 5 1 2 a contains the values for the following example GPGLL 3723 2475 N 12158 3416 W 161229 487 A 2C Table 2 5 1 2 a GLL Data Format Name Example Description Message ID GPGLL GLL protocol header Latitude 3723 2475 ddmm mmmm N S Indicator N N north or S south Longitude 12158 3416 dddmm mmmm E W Indicator W E east or W west UTC Position 161229 487 hhmmss sss Status A A data valid or V data not valid Checksum 2C lt CR gt lt LF gt End of
49. Message I D 1513 58 3 4 6 22 Computation of Duty Cycle and On Time 3 59 3 4 6 23 Push to FixX orense e 3 60 3 4 6 24 Poll Navigation Parameters Message I D 152 3 61 3 4 6 25 Low Power Acquisition Message I D 167 3 61 3 4 7 Output Messages for SiRF Binary Protocol 3 62 3 4 7 1 Measured Navigation Data Out Message I D 2 3 63 3 4 7 2 Measured Tracker Data Out Message I D 4 3 66 3 4 7 3 Raw Tracker Data Out Message I D 5 3 68 3 4 7 4 Software Version String Message I D 6 3 73 3 4 7 5 Response Clock Status Data Message I D 7 3 74 3 4 7 6 50 BPS Data Message I D 8 cece eee ce cece e ees 3 75 3 4 7 7 CPU Throughput Message I D 9 assssssssrrrsss 3 75 MU AMI 035 SN OPERATOR S MANUAL PAGE V NOVEMBER 2001 a SENA ISSUE 1 GPS RELEASE 2 3 4 7 8 Command Acknowledgment Message I D 11 3 76 3 4 7 9 Command NAcknowledgment Message I D 12 3 77 3 4 7 10 Visible List Message I D 13 assssssssrrsssn 3 78 3 4 7 11 Almanac Data Message I D 14 cee 3 78 3 4 7 12 Ephemeris Data Message I D 15 3 79 3 4 7 13 OkToSend Message I D 18 sunssssnsnsrrsnrren 3 79 3 4 7 14 Navigation Parameters Message I D 19 3 80 3 4 7 15 Navigation Measurement Data Message I D 283 82 3 4 7 16 Navigation Library DGPS Data Message I D 293 83 3 4 7 17 Navigation SV State Data Message 1 D 30 3 84 3 4 7
50. NC_DONE 0x0004 Set Bit sync completed flag SUBFRAME_SYNC_DONE 0x0008 Set Subframe sync has been done CARRIER_PULLIN_DONE 0x0010 Set Carrier pullin done CODE_LOCKED 0x0020 Set Code locked ACQ_FAILED 0x0040 Set Failed to acquire S V GOT_EPHEMERIS 0x0080 Set Ephemeris data available Note When a channel is fully locked and all data is valid the status shown is O x BF 3 4 7 3 Raw Tracker Data Out Message I D 5 GPS Pseudo Range and Integrated Carrier Phase Computations Using SiRF Binary Protocol This section describes the necessary steps to compute the GPS pseudo range pseudo range rate and integrated carrier phase data that can be used for post processing applications such as alternative navigation filters This data enables the use of third party software to calculate and apply differential corrections based on the SiRF binary protocol MU AMI 035 SN OPERATOR S MANUAL PAGE 3 68 NOVEMBER 2001 SENA GPS ISSUE 1 RELEASE 2 SiRF Binary Data Messages The Albatros GPS provides a series of output messages as described in this Guide This is the raw data message required to compute the pseudo range and carrier data The ephemeris data can be polled by the user or requested at specific intervals with customized software Currently there is no support for the automatic saving of the ephemeris when an update ephemeris is decoded Output Rate Example 1 Hz Table 2 4 7
51. SENA ISSUE 1 GPS RELEASE 2 Table 2 4 7 16 a Measurement Data Binary Hex ASCII Decimal Scale Example Scale Example Message ID 1D 29 Satellite ID 15 IOD Source 01 1 Pseudo ranae BFC97C67 3217652839 Correction Pseudo ranae 3CAAAAAB 1017817771 rate Correction Correction Age 3FBFFE12 1069547026 Reserved Reserved Payload Length 26 bytes 1 O0 Use no corrections 1 Use WAAS channel 2 Use external source 3 Use Internal Beacon 4 Set DGPS Corrections 3 4 7 17 Navigation SV State Data Message I D 30 Output Rate Every measurement cycle full power continuous 1Hz Example A0OA20053 Start Sequence and Payload Length 1E15 2C64E99D01 408906C8 Payload 2360B0B3 Message Checksum and End Sequence MU AMI 035 SN OPERATOR S MANUAL PAGE 3 84 NOVEMBER 2001 a SENA ISSUE 1 GPS RELEASE 2 Table 2 4 7 17 a SV State Data Binary Hex ASCII Decimal Scale Example Scale Example Message ID 1E 30 Satellite ID 15 21 GPS Time Position X Position Y Position Z Velocity X Velocity Y Velocity Z Clock Bias Clock Drift 2C64E99D 744810909 Epohemeris O1 1 Flag Reserved Ionospheric 408906C8 1082721992 Delay Payload Length 83 bytes 1 O no valid SV state 1 SV state calculated from ephemeris 2 Satellite state cal
52. SNGPSCH GPS tracking channels 3 22 3 3 3 9 AT SNGPSSV used satellites in the navigation 3 23 3 3 3 10 AT SNGPSMODE Navigation mode sss 3 23 3 3 3 11 AT SNGPSDOPS Dilution of precision 3 24 3 3 3 12 AT SNGPSDATUM DATUM configuration 3 24 3 3 3 13 AT SNGPSMASK Read configure nav masks 3 27 3 3 3 14 AT SNGPSINIT GPS initialization 06 3 28 3 3 3 15 AT SNGPSNODE Node number configuration 3 29 3 3 3 16 AT SNGPSBASE GSM control center configuration 3 30 MU AMI 035 SN OPERATOR S MANUAL PAGE III NOVEMBER 2001 a SENA as RELEASE 2 3 3 3 17 AT SNGPSRADIUS Radius alarm configuration 3 30 3 3 3 18 AT SNGPSCYCLES Modem cycles configuration 3 31 3 3 3 19 AT SNGPSMAXCYCLES Cycles limitation 3 32 3 3 3 20 AT SNGPSDISC Discrete I O cccce cece sees 3 33 3 3 3 21 AT SNGPSERR Internal error codes 3 34 3 3 3 22 AT SNGPSALARM discrete alarm configuration 3 35 3 3 3 23 AT SNGPSNMEA switch to NMEA protocol 3 36 3 3 4 Parameters storage in non volatile memory 3 37 24 OIRF 6 B mere one etre riere 3 40 3 4 1 SiRF Binary Protocol ciscesccnsswrsesndewiseaessnstenceannenanns 3 40 3 4 2 Protocol Layers visivescccavesiccosteaiiearndsdaavaswaniestecastees 3 40 3 4 3 Payload Length ssssssssssssrrrnnrrrssrresrrrrenrrssnrrrrn 3 41 3 4 4 Payload ata sssssssssnnnnnrrnnrrrnsrrrrsrrrrnrrrenrrrenna 3 41 Sexo CHECKSUM acatercaserse
53. Stop Bit 01 0 1 Parity 00 None 0 Odd 1 Even 2 Pad 00 Reserved Payload Length 9 bytes MU AMI 035 SN OPERATOR S MANUAL PAGE 3 49 NOVEMBER 2001 gt SENA ISSUE 1 GPS RELEASE 2 3 4 6 7 Set Protocol Message I D 135 This message sets the protocol to specified parameters After reception of this message the module will restart with the new protocol Selection will be preserved in SRAM Table 2 4 6 7 a contains the input values for the following example Set Protocol to maintenance modem Example AOA20002 Start Sequence and Payload Length 8704 Payload OO8BBOB3 Message Checksum and End Sequence Table 2 4 6 7 a Set Main Serial Port Binary Hex Description Scale Example Message ID 87 decimal 135 New 04 Switch to maintenance modem protocol protocol Payload Length 2 bytes 1 Values for protocol selection e 0 SiRF protocol e 1 NMEA protocol e 4 Maintenance modem protocol 9600 bauds 8 N 1 Do not use any other value MU AMI 035 SN OPERATOR S MANUAL PAGE 3 50 NOVEMBER 2001 a SENA GPS ISSUE 1 RELEASE 2 3 4 6 8 Mode Control Message I D 136 Table 2 4 6 8 a contains the input values for the following example Example 3D Mode Always Alt Constraining Yes Degraded Mode clock then direction TBD 1 DR Mode Yes Altitude 0 Alt Hold Mode Auto Alt Source Last Computed Coast Time Out 20 Degraded
54. To read the actual configuration AT SNGPSBASE NNN TTTTTTT lt CR gt To change the actual configuration Response SNGPSNODE NNN TTTTTTT lt CRLF gt only in case of reading OK lt CRLF gt Description NNN Is the new GSM base node number 1 to 9 digits O not allowed See the chapter 4 4 TEXT MESSAGES on page 4 2 for more information about reserved base numbers TTTTTTT Is the GSM base phone number This number must be entered with the international prefix 34 for Spain and can be preceded by the sign However in the read command the sign will never appear Any parameter can be omitted In this case its value will not be altered If the last parameters are omitted the corresponding remaining commas can also be omitted 3 3 3 17 AT SNGPSRADIUS Radius alarm configuration This command allows reading and setting the radius alarm configuration This command can be remotely called see 4 4 TEXT MESSAGES on page 4 2 MU AMI 035 SN OPERATOR S MANUAL PAGE 3 30 NOVEMBER 2001 A SENA ISSUE 1 WP crs RELEASE 2 Syntax AT SNGPSRADIUS lt CR gt To read the actual configuration AT SNGPSRADIUS RRRR AAAA BBBB lt CR gt To set a new radius configuration Response SNGPSRADIUS RRRR AAAA BBBB lt CRLF gt only in case of reading OK lt CRLF gt Description RRRR Is the new radius in meters 250m minimum 0 will disable the radius alarm Any value between 1 and 249
55. UE 1 WP crs RELEASE 2 pe 4 1 INTRODUCTION The j GPS modem is designed to be used inside a fleet control system In this case the GSM modem is used to communicate with the fleet control center GSM control center The specific communication protocol is defined in the document ICD GPS 004 SN edited by SENA GPS The GPS modem is able to send and receive secured communication frames The following chapter lists the supported frames in the Amigo GPS modem 4 2 INCOMING FRAMES Frame 3B generic request Ask for the modem s GPS position via an extended position frame or for the actual modem configuration The GPS modem will answer this with the requested frame Frame 3F Remote configuration Allows to program the periodicity and maximum number of autoresponding cycles alarm radius latitude and longitude of the alarm circle center absence time local time offset discrete output state Note in case of discrete output configuration remind that the ACTIVE state of the output ON state is OV and the INACTIVE state OFF state is open drain 4 3 OUTGOING FRAMES Frame 4D Extended position With the following reasons e Answer to an extended position request MU AMI 035 SN OPERATOR S MANUAL PAGE 4 1 NOVEMBER 2001 a SENA ISSUE 1 GPS RELEASE 2 e Autoresponding cycle e Radius alarm e Time limit alarm e Discrete input alarm The command AT SNGPSALARM can be used to configure the
56. ading and setting the discrete alarm configuration Syntax AT SNGPSALARM lt CR gt To read the actual configuration AT SNGPSALARM T LLLLL lt CR gt To set a new alarm configuration MU AMI 035 SN OPERATOR S MANUAL PAGE 3 35 NOVEMBER 2001 A SENA ISSUE 1 GPS RELEASE 2 Response SNGPSALARM T LLLLL lt CRLF gt only in case of reading OK lt CRLF gt Description f Is the alarm type No alarm Alarm when the input is high Alarm when the input is low Alarm when low to high transition on the input Alarm when high to low transition on the input KRWNrFO LLLLL up to 5 digits 99 seconds Latency time in milliseconds approximate If the alarm is by state T 1 or 2 the input must remain active al least LLLLL ms to trigger the alarm If the alarm is by transition T 3 or 4 the input must remain LLLLL ms in inactive state and then LLLL ms in active state to trigger the alarm Note if the alarm is by level T 1 or 2 the alarm will only be sent once until the input gets inactive during LLLLL ms The discrete input is sampled at 200ms rate Then the latency time precision will be 200ms The configuration value will be rounded up to the next 200ms Example 1 the commands AT SNGPSALARM 1 0 and AT SNGPSALARM 1 200 have the same effect the alarm will be sent when the discrete input will be sampled one time at high level Example 2 the commands AT SNGPSALARM 1 201 and AT SNGPSALARM 1
57. ain Serial Port Set Protocol Mode Control DOP Mask Control DGPS Mode Elevation Mask Power Mask Editing Residual Steady State Detection Not Used Static Navigation Clock Status Poll Set DGPS Serial Port Almanac Poll Ephemeris Poll Set Ephemeris upload Switch Operating Mode Set Low Power operation Navigation Parameters Poll Low Power Acquisition Parameters MU AMI 035 SN OPERATOR S MANUAL PAGE 3 43 NOVEMBER 2001 a SENA ISSUE 1 GPS RELEASE 2 3 4 6 1 Initialize Data Source Message I D 128 Table 2 4 6 1 a contains the input values for the following example Warm start the receiver with the following initialization data ECEF XYZ 2686727 m 4304282 m 3851642 m Clock Offset 75 000 Hz Time of Week 86 400 s Week Number 924 and Channels 12 Raw track data enabled Debug data enabled Example A0A20019 Start Sequence and Payload Length 80FFD700F9FFBE5266003AC57A000124F80083D 600039C0C33 Payload 0A91B0OB3 Message Checksum and End Sequence Table 2 4 6 1 a Initialize Data Source Binary Hex Description Scale Example Message ID 80 ASCII 128 ECEF X FFD700F9 meters ECEF Y FFBE5266 meters ECEF Z 003AC57A meters Clock Offset 000124F8 Hz Time of Week 0083D600 seconds Week Number 039C Channels oC Range 1 12 Reset Config O1 See Table 2 4 6
58. alarm type level transition etc Frame 78 Modem s actual configuration Contains the same fields as the 3F frame 4 4 TEXT MESSAGES The J GPS modem can also receive text messages sent from a mobile phone If the text message is considered as valid as described in the following chapters the Amigo will execute the corresponding order Some base numbers have a special signification e The base number 99999999 means that the base DOES NOT support binary messages only text messages sent from the base phone number will be recognized The alarms and autoresponding cycles are converted to text position messages See 4 4 2 Alarms with text messages on page 4 4 sent to the base phone number Only text messages from the authorized phone number will be accepted e The base number 99999998 means that the base DOES NOT Support binary messages only text messages sent from ANY phone number will be recognized The alarms and autoresponding cycles are converted to text position messages See 4 4 2 Alarms with text messages on page 4 4 sent to the base phone number The answer to text orders position request etc will be sent MU AMI 035 SN OPERATOR S MANUAL PAGE 4 2 NOVEMBER 2001 A SENA ISSUE 1 GPS RELEASE 2 to the phone number that sent the order Any phone number will be accepted Any other base number means that the base accepts both types of messages text and binary but only from and to the authorized
59. col from SiRF protocol sending a Change To NMEA Protocol frame 3 2 14 NMEA command Description Switch to NMEA protocol Parameters N A This command switch the modem to NMEA protocol with the following characteristics 4800 bauds 8 data bits no parity 1 stop bit After receiving this command the modem will only accept NMEA frames and will ignore any other data There are five ways to switch back to maintenance mode Insert the modem in its DockStation and remove it Erase completely the SRAM memory Send an AT command The command will not be interpreted but the Amigo will switch back to AT mode 9600 bauds MU AMI 035 SN OPERATOR S MANUAL PAGE 3 10 NOVEMBER 2001 A SENA ISSUE 1 WP crs RELEASE 2 Send a NMEA frame to switch back to the named USER1 protocol Switch to SiRF protocol with the appropriate NMEA frame and then switch to maintenance USER1 protocol see 3 2 13 SIRF command on page 3 9 3 2 15 POWER command Description Configure the power saving modes Parameters 1 Power saving type o 0 Power saving disabled o 1 TricklePower mode activated ratio 200 1000 o 2 Push To Fix mode activated If no parameter is provided the modem will print the actual configuration Example gt power Power saving currently disabled To update the configuration power 0 disable power saving modes power 1 enable Trickle Power 200 1000 power 2 enable Pu
60. culated from almanac 3 4 7 18 Navigation Initialization Data Message I D 31 Output Rate Every measurement cycle full power continuous 1Hz MU AMI 035 SN OPERATOR S MANUAL PAGE 3 85 NOVEMBER 2001 a SENA ISSUE 1 GPS RELEASE 2 Example A0A20054 Start Sequence and Payload Length 1F 00000000000001001E000F 00 0000000 OOF 00 02 043402 02 Payload 0E27B0B3 Message Checksum and End Sequence Table 2 4 7 18 a Measurement Data Binary Hex ASCII Decimal Name Bytes Units Scale Example Scale Example Message ID 1 1F 31 Reserved 1 Altitude Mode 1 00 0 Altitude Source 1 00 0 Altitude 4 00000000 0 Degraded Mode 1 01 1 Dearaded 2 001E 30 Timeout Dead reckonina 2 OOOF 15 Timeout Reserved 2 Track Smoothina 1 00 0 Mode Reserved 1 Reserved 2 Reserved 2 Reserved 2 MU AMI 035 SN OPERATOR S MANUAL PAGE 3 86 NOVEMBER 2001 a SENA ISSUE 1 GPS RELEASE 2 DGPS Selection 1 00 0 DGPS Timeout 2 0000 0 Elevation Nav 2 OOOF 15 Mask Reserved 2 Reserved 1 Reserved 2 Reserved 1 Reserved 2 Static Nav Mode 1 00 0 Reserved 2 Position X 8 Position Y 8 Position Z 8 Position Init 1 02 2 Source GPS Time 8 GPS Week 2 0434 1076 Time Init Source 1 02 2 Drift 8 Drift Init Source 1 02 2 Payload Length 84 bytes
61. e Update rate Off Time On Time Following are some examples of selections Table 2 4 6 22 a Example of Selections for Trickle Power Mode of Operation Mode On Time ms Duty Cycle Update Rate 1 Hz Continuous 1000 100 1 Trickle Power 200 20 1 Trickle Power 10 2 Trickle Power 10 3 Trickle Power 5 MU AMI 035 SN OPERATOR S MANUAL PAGE 3 59 NOVEMBER 2001 gt SENA ISSUE 1 GPS RELEASE 2 Table B 26 Trickle Power Mode Support Update Rate sec 5 6 Y Y M Y 1 Y Yes Mode supported 2 2 N No Duty cycle gt 50 FP 3 4 6 23 Push to Fix In this mode the receiver will turn on every 30 minutes to perform a system update consisting of a RTC calibration and satellite ephemeris data collection if required e g a new satellite has become visible as well as all software tasks to support Snap Start in the event of an NMI Ephemeris collection time in general takes 18 to 30 seconds If ephemeris data is not required then the system will re calibrate and shut down In either case the amount of time the receiver remains off will be in proportion to how long it stayed on On Period 1 Duty Cycle Off period 4sensesmanensenntne nannan Duty Cycle Off Period is limited to 30 minutes The duty cycle will not be less than approximately On Period 1800 or about 1 Push to Fix keeps the ephemeris for all v
62. e with 4 decimals The enter part length is variable The decimal separator is the point between minutes and decimals of minute In case of negative latitude south of the equator a minus sign will be present before the value BBBBB BBBB is the current longitude in degrees minutes decimals of minute with 4 decimals The enter part length is variable The decimal separator is the point between minutes and decimals of minute In case of negative latitude west from O meridian a minus sign will be present before the value CCC CCC is the altitude in meters with 3 decimals relative to the current DATUM s reference ellipsoid The decimal separator is the point and the integer part length is variable In case of negative altitude a minus sign will be present before the value Note e The DOPs state Dilution of precision should be checked to validate a position 3 3 3 5 AT SNGPSVEL GPS velocity This command outputs the last computed GPS speed This command can be remotely called see 4 4 TEXT MESSAGES on page 4 2 MU AMI 035 SN OPERATOR S MANUAL PAGE 3 20 NOVEMBER 2001 A SENA ISSUE 1 b GPS RELEASE 2 Syntax AT SNGPSVEL lt CR gt Response SNGPSVEL VVV VVVVVV AAA AAA lt CRLF gt OK lt CRLF gt Description VVV VVVVVV is the horizontal velocity Course over Ground in kilometers by hour with 6 decimals The decimal separator is the point and the integer part length is variable 1 to 3 digit
63. e GSM module to set up completely which can need al least 30 seconds To check if the Amigo is ready send the AT lt CR gt command until it answers OK While answering ERROR the Amigo is not ready note lt CR gt is the Enter key 2 2 2 Switch to maintenance mode Although it is possible to completely configure the Amigo with AT commands the maintenance mode offers a more convivial interface To switch to maintenance mode enter the AT SNGPSMANT lt CR gt command MU AMI 035 SN OPERATOR S MANUAL PAGE 2 1 NOVEMBER 2001 A SENA ISSUE 1 WP crs RELEASE 2 The Amigo prints information about the mode switching and a prompt gt 2 2 3 Configuring the node number The Amigo behaves as a standard GSM modem It is possible to make voice fax and data calls and send short messages However the node number 0 by default must be configured for any automatic communication see corresponding chapter 4 EXTERNAL COMMUNICATIONS on page 4 1 Example configure the node number 123456 NODO 123456 lt CR gt The node number has a maximum of 8 digits 2 2 4 Configuring the control center To send and receive binary orders it is necessary to configure the control center identification Example configure the control center node to 2 and its phone number is 34 123 456 789 always international number TELEFONO 2 34123456789 lt CR gt The control center node number has a maximum of 8 digits MU AMI 035 SN OPER
64. e fameco bk MU AMI 035 SN OPERATOR S MANUAL PAGE 3 37 NOVEMBER 2001 a SENA ISSUE 1 GPS RELEASE 2 cast famco Xf cerLe AMIGO x fererssso er Amigo k fo berce lsm bk fo er 960 fixed wire dsm ko fz er 8 fixe e sm kK h f ac ft fixe ap sim kK ho k Bs sim k h _____ QR L I foxes wo fixe DopT___ Amigo Xft me AMIGg xf WN Amigo xf ps AMIGO x fsosos20 HDR fAMiGg k fo FDC FiDs famco x fos 0020000 rca _ famco bk lo FCR AMIGO k h eheto fameco p e meor ameo _ K ECHO AMIGO 255 1000 5 500 63 echo cancel 0 0 3 10 7 0 switch COO a _ SNGPEEYCLES stews fe e a Aa K ror eta aad Notes 4 X The corresponding parameter is loaded with AT amp F command MU AMI 035 SN OPERATOR S MANUAL PAGE 3 38 NOVEMBER 2001 A SENA ISSUE 1 GPS RELEASE 2 Reset The parameter will only be loaded on hardware reset or when the corresponding command is executed to update the configuration Amigo the parameter is stored in the Amigo SIM the parameter is stored in the SIM card 6 AT SPEAKER command this command allows to choose the current microphone and speaker for voice calls The default parameter 1 corresponds to the only speaker and microphone supported by the Amigo Therefore it is normally useless to change the configuration 6 The parameters stored in the SIM
65. e the receiver to acquire signals quickly Table 2 5 2 5 a contains the input values for the following example Start using known position and time PSRF104 37 3875111 121 97232 0 96000 237759 1946 12 1 07 Table 2 5 2 5 a LLA Navigation Initialization Data Format Name Example Description Message ID PSRF104 PSRF104 protocol header Lat 37 3875111 degrees Latitude position Ranae 90 to 90 121 97232 degrees Lonaitude position Ranae 180 to 180 0 meters Altitude position ClkOffset 96000 Hz Clock Offset of the modem Amigo GPS TimeOfWeek 237759 seconds GPS Time Of Week WeekNo 1946 Extended GPS Week Number 1024 added ChannelCount 12 Range 1 to 12 ResetCfg 1 See Table 2 5 2 5 b Checksum lt CR gt lt LF gt End of message termination 1 Use 0 for last saved value if available If this is unavailable a default value of 96 000 will be used MU AMI 035 SN OPERATOR S MANUAL PAGE 3 102 NOVEMBER 2001 a SENA ISSUE 1 GPS RELEASE 2 Table 2 5 2 5 b Reset Configuration Description Hot Start All data valid Warm Start Ephemeris cleared Warm Start with Init Ephemeris cleared initialization data loaded Cold Start Clears all data in memory Clear Memorv Clears all data in memorv and resets receiver back to factory defaults 3 5 2 6 105 Development Data On Off Use this command to enable development data informati
66. e velocity etc Any ASCII terminal can be used to connect to the module In this mode the J GPS module will act as if it were a true Wavecom modem except for the differences given below While in maintenance mode the module will automatically enter modem mode as it receives any AT command even erroneous commands Note In this mode only UPPERCASE commands will be recoanized and concatenated commands are forbidden e a AT CMGF 1 CMGR 2 3 3 2 Partially or not supported commands 3 3 2 1 Turn modem OFF AT CPOF or AT CFUN 0 This command is prohibited The modem will answer ERROR 3 3 2 2 Dial command ATD or ATDL or AT D1 These commands are fully supported for all type of calls voice data except multiple calls 3 3 2 3 Call waiting multiparty call etc The CCWA CLCC and CHLD are not yet supported MU AMI 035 SN OPERATOR S MANUAL PAGE 3 13 NOVEMBER 2001 a SENA ISSUE 1 GPS RELEASE 2 3 3 2 4 Answer command ATA or ATSO The actual version only allows the ATA command ATS command automatic answer is not supported 3 3 2 5 PIN Code AT CPIN Note To ensure correct operation of the module while in modem mode the PIN code of the SIM card must be disabled The actual version does not support SIM con PIN code activated However the PIN commands remain available 3 3 2 6 PIN configuration AT CLCC SC or AT CPWD SC The actual version does not accept PIN code Thus it is strongly recom
67. er This number must be entered in international format 34 for Spain without the sign international prefix If no parameter is provided the modem will print the actual configuration gt base Base Id 0 Base phone number To update the configuration base BaseId BasePhoneNumber OPERATOR S MANUAL PAGE 3 4 A SENA ISSUE 1 WP crs RELEASE 2 gt base 2 34609123456 New base Id 2 New base phone number 34609123456 gt 3 2 6 RADIUS command Description Alarm radius configuration n Parameters 1 New radius in meters 250 m minimum of do disable the alarm radius 2 Alarm circle center latitude in degrees 3 Alarm circle center longitude in degrees If no parameter is provided the modem will print the actual configuration Example gt radius The radius alarm is currently disabled To update the configuration radius radius i meters center latitude center longitude To disable radius alarm radius off gt radius 2000 41 0589 3 65148 New radius 2000 meters New center Lat 41 058900 Lon 3 651480 gt radius off Radius alarm disabled gt 3 2 7 CYCLES command Description Autoresponding cycles configuration Parameters 1 New autoresponding time in seconds 30 s minimum 0 to disable autoresponding feature If no parameter is provided the modem will print the actual configuration Example gt cycles Current autoresponding time 0 s Next autoresp
68. essarilv in sync with code phase measurement for each measurement epoch Search Count This is the number of times the tracking software has completed full satellite signal searches C No Ten measurements of carrier to noise ratio C No values in dBHz at input to the receiver Each value represents 100 ms of tracker data and its sampling time is not necessarily in sync with the code phase measurement Power Loss Count The number of times the power detectors fell below the threshold between the present code phase sample and the previous code phase sample This task is performed every 20 ms max count is 50 Phase Loss Count The number of times the phase lock fell below the threshold between the present code phase sample and the previous code phase sample This task is performed every 20 ms max count is 50 MU AMI 035 SN OPERATOR S MANUAL PAGE 3 72 NOVEMBER 2001 a SENA ISSUE 1 GPS RELEASE 2 Integration Interval The time in ms for carrier phase accumulation This is the time difference as calculated by the user clock between the Carrier Phase current and the Carrier Phase previous Track Loop Iteration The tracking Loops are run at 2 ms and 10 ms intervals Extrapolation values for each interval is 1 ms and 5 ms for range computations 3 4 7 4 Software Version String Message I D 6 Output Rate Response to polling message Example A0OA20015 Start Sequence and Payload Length 0606312E322E30444B4
69. eters Response to Poll Oxic 28 Nav Lib Measurement Data Measurement Data O0xiD 29 Nav Lib DGPS Data Differential GPS Data Ox1E 30 Nav Lib SV State Data Satellite State Data Oxi1F 31 Nav Lib Initialization Data Initialization Data O x FF 255 Development Data Various status messages 1 Test is production testing software tool 3 4 7 1 Measured Navigation Data Out Message I D 2 Output Rate Example MU AMI 035 SN NOVEMBER 2001 navigation data lists the binary and ASCII 1 Hz Table 2 4 7 1 a message data format for the measured A0A20029 Start Sequence and Payload Length O2FFD6F78CFFBE536E003AC00400030104A0003 6B039780E3 0612190E160F04000000000000 Payload O9BBBOB3 Message Sequence OPERATOR S MANUAL Checksum and End PAGE 3 63 a SENA ISSUE 1 GPS RELEASE 2 Table 2 4 7 1 a Measured Navigation Data Out Binary amp ASCII Message Data Format Binary Hex ASCII Decimal Name Scale Example Scale Example Message ID 02 2 X position FFD6F78C 2689140 Y position FFBE536E 4304018 Z position 003AC004 m 3850244 X velocity 00 m s 0 Y velocity 03 m s Z velocity 01 m s Modet 04 Bitmap DOP A Mode 00 Bitmap GPS Week 036B 875 GPS TOW 039780E3 seconds 602605 79 SVs in Fix 06 6 12 18 19 25 OE 14 16 22 OF 15 04 04 00 00 00 00 00 00
70. g LOCTIME Local time config POS Current GPS posicion CANALES Tracking canals CHANNELS Tracking canals MAP Satellites map SIRF Switch to SiRF protocol NMEA Switch to NMEA protocol POWER Power saving mode ECOTFN Phone line spy RESET Reset GPS Standard AT commands are also available Type AT SNGPS for help on extended GPS AT commands gt 3 2 2 VERSION command Description Parameters Example MU AMI 035 SN NOVEMBER 2001 Print the actual software version N A gt version AMIGO R1 Version 002c beta Current mode mantenimiento Press for help on available commands OPERATOR S MANUAL PAGE 3 3 a SENA w GPS ISSUE 1 RELEASE 2 3 2 3 TEST command Description 3 2 4 NODE Description Parameters Example This command is used for factory testing It needs a specific test board and is useless without this board command Configuration of the modem s node number 1 New node number If no parameter is provided the modem will print the actual configuration gt node Actual node number 0 To update the configuration node new node number gt node 2 New node number 2 3 2 5 BASE command Description Parameters Example MU AMI 035 SN NOVEMBER 2001 Configuration of the authorized control center 1 New base GSM control center node number See chapter 4 4 TEXT MESSAGES on page 4 2 for more information about reserved values 2 Base new phone numb
71. isible satellites up to date so position velocity fixes can generally be computed within Snap Start times when requested by the user on the order of 3 seconds MU AMI 035 SN OPERATOR S MANUAL PAGE 3 60 NOVEMBER 2001 A SENA ISSUE 1 GPS RELEASE 2 3 4 6 24 Poll Navigation Parameters Message I D 152 Table 2 4 6 21 a contains the input values for the following example Example Poll receiver for current navigation parameters A0A20002 Start Sequence and Payload Length 9800 Payload 0098B0B3 Message Checksum and End Sequence Table 2 4 6 24 a Poll Receiver for Navigation Parameters Binary Hex Description Scale Example Message ID 98 ASCII 152 Reserved 00 Reserved Payload Length 2 bytes 3 4 6 25 Low Power Acquisition Message I D 167 Table 2 4 6 25 a contains the input values for the following example Set maximum off and search times for re acquisition while receiver is in low power Example A0A20019 Start Sequence and Payload Length A7000075300001D4C0000000000000000000000 00000000000 Payload 02E1BOB3 Message Checksum and End Sequence MU AMI 035 SN OPERATOR S MANUAL PAGE 3 61 NOVEMBER 2001 a SENA GPS ISSUE 1 RELEASE 2 Table 2 4 6 25 a Set Low Power Acquisition Parameters Binary Hex Scale Example Description Message ID A7 Decimal 167 Max Off Time 00007530 Maximum time for sleep mode Max Search Ti
72. ited MU AMI 035 SN OPERATOR S MANUAL PAGE 3 96 NOVEMBER 2001 a SENA ISSUE 1 GPS RELEASE 2 NMEA Input Messages Message Description SetSerialPort Set PORT A parameters and protocol NavigationInitialization Parameters required for start using X Y Z SetDGPSPort Set PORT B parameters for DGPS input Query Rate Control Ouerv standard NMEA messaae and or set output rate LLANavigationInitialization Parameters required for start using Lat Lon Alt Development Data On Off Development Data messaaes On Off MSK Receiver Interface Command messaae to a MSK radio beacon receiver 1 Message Identification MID 2 Input coordinates must be WGS84 3 Input coordinates must be WGS84 Note NMEA input messages 100 to 105 are SiRF proprietarv NMEA messaaes The MSK NMEA strina is as defined bv the NMEA 0183 standard 3 5 2 1 100 SetSerialPort This command message is used to set the protocol SIRF Binary or NMEA and or the communication parameters baud data bits stop bits parity Generally this command is used to switch the module back to SiRF Binary protocol mode where a more extensive command message set is available When a valid message is received the parameters are stored in battery backed SRAM and then the modem imiga GPS Receiver restarts using the saved parameters MU AMI 035 SN OPERATOR S MANUAL PAGE 3 97 NOVEMBER 2001 gt SENA ISSUE 1 GPS RELEASE 2
73. ith absolute time see 3 2 8 MAXTIME command 3 2 10 POS command Description Prints the current GPS position GPS time used satellites DOPs Dilution Of Precision navigation mode and velocity Parameters N A Example gt pos Current position LAT 40 513984 LON 3 657461 ALT 767 246648 Velocity 0 200 km h Angle 72 049 6 satellites used in navigation 15 22 17 6 18 30 GDOP 3 487 HDOP 2 011 PDOP 2 919 TDOP 1 908 VDOP 2 126 GPS Time Week 89 TOW 28939891 UTC Time 09 05 2001 08 23 05 Navigation mode 04 gt 3 2 11 CHANNELS command Description Shows the GPS canals states Parameters N A MU AMI 035 SN OPERATOR S MANUAL PAGE 3 7 NOVEMBER 2001 a SENA ISSUE 1 b GPS RELEASE 2 Example gt canales Channel SV Azim Elev State C No a 3 1 315 7 0 23 30 90 41 CCBFE 36 3 3 246 oS esssS 0 4 25 240 62 SSS 0 Di g 17 140 48 s 0 6 3 22 JOL 33 0 7 Channel free 8 Channel free e i 6 46 61 CCBFE 36 10 Channel free LL g 5 101 12 CCBE 32 12 z 29 218 9 assss 0 Fields description e Channel GPS channel number e SV satellite number e Azim satellite azimuth in degrees O north 90 east e Elev satellite elevation in degrees O horizon 90 vertical e State satellite communication state o C Carrier sync o C Code sync o B Byte sync o F Frame sync o E Ephemeris available e C No signal strength en dBHz 3 2 12 MAP command Description
74. l switch the module to maintenance mode The prompt gt will be displayed Syntax AT SNGPSMANT lt CR gt Response OK lt NAME gt version lt X XX gt lt Comment about the version gt Actual mode MU AMI 035 SN NOVEMBER 2001 OPERATOR S MANUAL mantenimiento PAGE 3 18 SENA ISSUE 1 GPS RELEASE 2 Enter for help on available commands gt To switch back to modem mode send any AT command 3 3 3 3 AT SNGPSVER HW SW version This command will poll the software and hardware version of the GPS module This command can be remotely called see 4 4 TEXT MESSAGES on page 4 2 Syntax AT SNGPSVER lt CR gt Response HW VERSION SW_VERSION lt CRLF gt OK lt CRLF gt 3 3 3 4 AT SNGPSPOS GPS position This command outputs the last computed GPS position in the current DATUM This command can be remotely called see 4 4 TEXT MESSAGES on page 4 2 Syntax AT SNGPSPOS lt CR gt Response SNGPSPOS Q S AAAA AAAA BBBBB BBBB CCC CCC lt CRLF gt OK lt CRLF gt Description Q quality indicator MU AMI 035 SN OPERATOR S MANUAL PAGE 3 19 NOVEMBER 2001 GPS RELEASE 2 a SENA ISSUE 1 v O0 Fix not available or invalid v 1 Not full 3D solution 3D fixed alt 2D dead reckon etc vy 2 full 3D solution Sis the number of satellites used in the navigation solution 1 or 2 digits AAAA AAAA is the current latitude in degrees minutes decimals of minut
75. llows the payload length It contains the number of bytes specified by the payload length The payload data may contain any 8 bit value MU AMI 035 SN OPERATOR S MANUAL PAGE 3 41 NOVEMBER 2001 A SENA ISSUE 1 GPS RELEASE 2 Where multi byte values are in the payload data neither the alignment nor the byte order are defined as part of the transport although SiRF payloads will use the big endian order 3 4 5 Checksum The check sum is transmitted high order byte first followed by the low byte This is the so called big endian order High Byte Low Byte lt 0x7F Any value The checksum is 15 bit checksum of the bytes in the payload data The following pseudo code defines the algorithm used Let message to be the array of bytes to be sent by the transport Let msgLen be the number of bytes in the message array to be transmitted Index first checkSum 0 while index lt msgLen checkSum checkSum message index checkSum checkSum AND 2 15 1 3 4 6 Input Messages for SiRF Binary Protocol Note All input messages are sent in BINARY format Table 2 4 6 a lists the message list for the SiRF input messages MU AMI 035 SN OPERATOR S MANUAL PAGE 3 42 NOVEMBER 2001 a SENA ISSUE 1 GPS RELEASE 2 Table 2 4 6 a SiRF Messages Input Message List Name Initialize Data Source Switch to NMEA Protocol Set Almanac upload Software Version Poll DGPS Source Control Set M
76. mation go to Table 2 4 7 2 b 2 Multiply by 1000 4pi 2 to convert to Hz Message ID Channel SVID State Bit Number Each SiRF binary message is defined based on the ID Receiver channel where data was measured range 1 12 PRN number of the satellite on current channel Current channel tracking state see Table 2 4 7 2 b Number of GPS bits transmitted since Sat Sun midnight in Greenwich at a 50 bps rate Millisecond Number Number of milliseconds of elapsed time Chip Number Code Phase since the last received bit 20 ms between bits Current C A code symbol being transmitted range O to 1023 chips 1023 chips 1 ms Fractional chip of the C A code symbol at the time of sampling scaled by 2 16 1 65536 Carrier Doppler The current value of the carrier frequency as maintained by the tracking loops MU AMI 035 SN NOVEMBER 2001 OPERATOR S MANUAL PAGE 3 71 GPS RELEASE 2 gt SENA ISSUE 1 Receiver Time Tag This is the count of the millisecond interrupts from the start of the receiver power on until the measurement sample is taken The ms interrupts are generated by the receiver clock Delta Carrier Phase The difference between the carrier phase current and the carrier phase previous Units are in carrier cycles with the LSB 0 00185 carrier cycles The delta time for the accumulation must be known Note Carrier phase measurements are not nec
77. me 0001D4C0 Max satellite search time TBD 00000000 Reserved TBD 00000000 Reserved TBD 00000000 Reserved TBD 00000000 Payload Length 25 bytes Reserved 3 4 7 Output Messages for SiRF Binary Protocol Table 2 4 7 messages a lists the message list for the SiRF output Table 2 4 7 a SiRF Messages Output Message List Hex ASCII Name Description 0x02 2 Measured Navigation Data Position velocity and time 0x 03 3 True Tracker Data Not Implemented O x 04 4 Measured Tracking Data Satellite and C No information 0x05 5 Raw Track Data Raw measurement data 0 x 06 6 SW Version Receiver software 0 x 07 7 Clock Status Current clock status 0 x 08 8 50 BPS Subframe Data Standard ICD format 0 x 09 9 Throughput Navigation complete data 0x 0A 10 Error ID Error codina for messade failure MU AMI 035 SN NOVEMBER 2001 OPERATOR S MANUAL PAGE 3 62 a SENA ISSUE 1 GPS RELEASE 2 O x OB 11 Command Acknowledgment Successful request 0x OC 12 Command Unsuccessful request NAcknowledgment 0 x OD 13 Visible List Auto Output 0 x OE 14 Almanac Data Response to Poll O x OF 15 Ephemeris Data Response to Poll 0x10 16 Test Mode Data For use with test Oxi1i 17 Differential Corrections Received from DGPS broadcast 0x12 18 OkToSend CPU ON OFF Trickle Power 0x13 19 Navigation Param
78. mended not to validate it with the AT CLCC SC command or change it with the AT CPWD SC command The modem would get out of order until the PIN code is removed 3 3 2 7 Phonebook commands All the phonebook commands are available except AT WAIP but the entries 5 to 20 are reserved for the J internal use configuration storage Any modification of these entries can alter normal modem operation The dmigo GPS module can erase and write these entries at any moment to save its configuration The Amigo needs the phonebook to store its configuration Thus the command AT WAIP is prohibited Note It is strictly forbidden to alter the entries 5 to 20 of the phonebook MU AMI 035 SN OPERATOR S MANUAL PAGE 3 14 NOVEMBER 2001 a SENA ISSUE 1 is GPS RELEASE 2 3 3 2 8 SMS commands All SMS commands are available It is possible to save and restore the configuration with AT CSAS and AT CRES See the Table 3 b parameters storage on page 3 37 for more information about parameters storage in non volatile memory The AT CNMA command is not supported 3 3 2 9 Data modes The Amigo GPS module provides support for data communication However Fax modes have not been tested yet 3 3 2 10 Communication format and speed The modem only communicates at the same speed as the maintenance protocol currently 9600 8 N 1 The Autobauding is not recognized The AT IPR command can be used with the limitations indicated above
79. n non volatile memory will be loaded as described in the Table 3 b parameters storage on page 3 37 After sending AT amp F command a delay of 5 seconds must be observed after the command before 5 seconds the modem can answer ERROR or CME ERROR 515 to the command MU AMI 035 SN OPERATOR S MANUAL PAGE 3 16 NOVEMBER 2001 A SENA ISSUE 1 WP crs RELEASE 2 3 3 2 19 Show actual configuration AT amp V This command is supported However the actual software version will always show CMEE status 1 and CRC status 1 even if the user changes the configuration with AT CMEE 0 or AT CRC 0 that are fully supported commands On the same manner AT amp D value will always be shown as 0 and IFC value will be 2 2 3 3 2 20 General indications AT WIND The AT WIND command is supported with the following differences 2 The unsolicited codes WIND O and WIND 1 SIM presence notification are not transmitted However the user can know if the SIM is present with the unsolicited result code SNGPSERROR 602 no SIM The unsolicited code WIND 4 guarantees that a valid SIM is present C The WIND 3 code is sent when the Amigo is ready to receive a reduced set of AT commands The commands allowed before receiving WIND 4 code are the following AT AT WSTR AT SNGPS AT SNGPSPOS AT SNGPSVEL AT SNGPSTIME AT SNGPSUTC AT SNGPSMODE AT SNGPSCH AT SNGPSSV AT SNGPSDOPS AT SNGPSINIT AT SNGPSVER y AT SNGPSMANT Any other c
80. nrnrrrrnnrnns 3 6 3 2 9 LOCTIME command ssssssssssssrssrrenrrrrnrrrrnnnnnnnrrrnnnnns 3 7 3 2 10 POS COMMANG sssrinin a a 3 7 3 2 11 CHANNELS command ssssssssssssrrrrsssrrrrnnsrrrrrrrrrrnn 3 7 MU AMI 035 SN NOVEMBER 2001 OPERATOR S MANUAL a SENA ISSUE 1 GPS RELEASE 2 3 2 12 MAP COMMON seeiis a a i 3 8 3 2 13 SIRF command sssssssssssrrssrrrrurrrnsrrrnnnrrnnnnnnnrrrenrnne 3 9 3 2 14 NMEA coMMand ssssssssssssssrrrrnrrrrenrrrnnrrrnrnrnsrnrnnnn 3 10 3 2 15 POWER command eiiauiencmunamedcinenindiadiabienoieaeu aan 3 11 3 2 16 ECOTFN command sssssssssssssssssrrrrrrnsrrrrrrssrrrrrrrnne 3 11 3 2 17 RESET COMMANG inccarcnnensntnoticnnerdgeaodiersioimadieaenen 3 12 3 2 18 AT command access to the modem mode 3 12 3 5 MODEM MODE wetiesttoontieeut rien tele ema a aaa 3 13 Seok AMUrOGUCHION sncvemvianaawnavantinineleaemnnranauannan 3 13 3 3 2 Partially or not Supported COMMANAS c cece eee 3 13 3 3 2 1 Turn modem OFF AT CPOF or AT CFUN 0 3 13 3 3 2 2 Dial command ATD or ATDL or AT D1 3 13 3 3 2 3 Call waiting multiparty call etC cece eee 3 13 3 3 2 4 Answer command ATA or AVSO wecsccasccteaniaxes 3 14 3 3 2 5 PIN Code ATCPINS vuicstomenaniaes denna ciddemaratuskar 3 14 3 3 2 6 PIN configuration AT CLCC SC or AT CPWD SC 3 14 3 3 2 7 Phonebook commandS vivcurnitetmsieiimreriermiietwas 3 14 3 3 2 8 SMS COMM GANGS cs ccticnenceniieniadacteoneacien cepiuahadaws 3 15 3
81. nteuet eenei Ea EEA 3 42 3 4 6 Input Messages for SiRF Binary Protocol 006 3 42 3 4 6 1 Initialize Data Source Message I D 128 3 44 3 4 6 2 Switch To NMEA Protocol Message I D 129 3 45 3 4 6 3 Set Almanac Message I D 130 cc eee 3 47 3 4 6 4 Software Version Message I D 132 3 48 3 4 6 5 DGPS Source Message I1 D 133 eee 3 49 3 4 6 6 Set Main Serial Port Message I D 134 3 49 3 4 6 7 Set Protocol Message I D 135 ansasen 3 50 3 4 6 8 Mode Control Message I D 136 ccce eae 3 51 3 4 6 9 DOP Mask Control Message I D 137 3 52 MU AMI 035 SN OPERATOR S MANUAL PAGE IV NOVEMBER 2001 a SENA ISSUE 1 GPS RELEASE 2 3 4 6 10 DGPS Control Message I D 138 ssns 3 53 3 4 6 11 Elevation Mask Message I D 139 c ee 3 53 3 4 6 12 Power Mask Message I D 140 cc cece eee 3 54 3 4 6 13 Editing Residual Message I D 141 3 55 3 4 6 14 Steady State Detection Message I D 142 3 55 3 4 6 15 Static Navigation Message I D 143 3 55 3 4 6 16 Poll Clock Status Message I D 144 3 55 3 4 6 17 Set DGPS Serial Port Message I D 145 3 56 3 4 6 18 Poll Almanac Message I D 146 000 3 56 3 4 6 19 Poll Ephemeris Message I D 147 3 57 3 4 6 20 Switch Operating Modes Message I D 150 3 58 3 4 6 21 Set TricklePower Parameters
82. ommand will answer ERROR The WIND 4 code notifies when the Amigo is ready to process any valid AT command 3 3 2 21 Wavecom downloading AT WDWL The actual software version does not support the AT WDWL command MU AMI 035 SN OPERATOR S MANUAL PAGE 3 17 NOVEMBER 2001 ISSUE 1 RELEASE 2 3 3 3 Supplementary commands The J GPS module provides commands given below more GPS specific 3 3 3 1 AT SNGPS Modem mode help This command prints the GPS specific command list This command is subject to change without notice and is only implemented for user help Syntax AT SNGPS lt CR gt Response OK Extended GPS AT commands AT SNGPS AT SNGPSPOS AT SNGPSVEL AT SNGPSTIME AT SNGPSUTC AT SNGPSMODE AT SNGPSCH AT SNGPSSV AT SNGPSDOPS AT SNGPSDATUM AT SNGPSMASK AT SNGPSINIT AT SNGPSVER AT SNGPSNODE AT SNGPSBASE AT SNGPSRADIUS AT SNGPSCYCLES AT SNGPSDISC AT SNGPSERR AT SNGPSALARM AT SNGPSMANT Show help on AT cmds Show current position Show current velocity Show current GPS time Show current UTC time Show navigation mode Show tracked satellites Show used satellites Show current DOPs Datum configuration Navigation masks config Init GPS Show SW HW version Node configuration GSM base configuration Radius configuration Cycles configuration Discrete I O Error messages SNGPS Alarm configuration Switch to mantenim mode 3 3 3 2 AT SNGPSMANT Switch to maintenance mode This command wil
83. on Standard for Interfacing Marine Electronic Devices version 2 20 01 01 1997 MU AMI 035 SN OPERATOR S MANUAL PAGE 3 88 NOVEMBER 2001 a SENA ISSUE 1 GPS RELEASE 2 3 5 1 NMEA Output Messages Table 2 5 1 a lists each of the NMEA output messages supported by the modem migo GPS Receiver and a brief description Table 2 5 1 a NMEA Output Messages Description Time position and fix type data Latitude longitude UTC time of position fix and status GPS receiver operatina mode satellites used in the position solution and DOP values The number of GPS satellites in view satellite ID numbers elevation azimuth and SNR values Sidnal to noise ratio sianal strenath frequency and bit rate from a radio beacon receiver Time date position course and speed data Course and speed information relative to the ground The next sections of this chapter provide a full description and definition of the listed NMEA messages 3 5 1 1 GGA Global Positioning System Fixed Data Table 2 5 1 1 a contains the values for the following example GPGGA 161229 487 3723 2475 N 12158 3416 W 1 07 1 0 9 0 M 0000 18 MU AMI 035 SN OPERATOR S MANUAL PAGE 3 89 NOVEMBER 2001 a SENA ISSUE 1 GPS RELEASE 2 Table 2 5 1 1 a GGA Data Format Name Example Description Message ID GPGGA GGA protocol header UTC Time 161229 487 hhmmss sss Latitude 3723 2475 ddmm mmmm N S
84. on if you are having trouble getting commands accepted Invalid commands generate debug information that enables the user to determine the source of the command rejection Common reasons for input command rejection are invalid checksum or parameter out of specified range Table 2 5 2 6 a contains the input values for the following examples 1 Debug On PSRF105 1 3E 2 Debug Off PSRF105 0 3F Table 2 5 2 6 a Development Data On Off Data Format Name Example Description Message ID PSRF105 PSRF105 protocol header Debug 1 O Off 1 On Checksum lt CR gt lt LF gt End of message termination MU AMI 035 SN OPERATOR S MANUAL PAGE 3 103 NOVEMBER 2001 A SENA ISSUE 1 WP crs RELEASE 2 3 5 2 7 MSK MSK Receiver Interface Differential corrections are not available in the j GPS Receiver Therefore this message should not be used 3 6 DOCKSTATION MODE 3 6 1 Introduction The DockStation mode communication parameters are the followings 9600 bauds 8 data bits no parity 1 stop bit This mode is designed for the use of a specific DockStation which characteristics are the followings Numeric keypad 10 numeric keys and Pressing any key will send one byte to the GPS module numeric keys 0x30 to 0x39 key Ox7F key OxOD LCD 2x16 characters screen Recognizes the following sequences Vv x1B x5B x32 x4A clear the whole screen and m
85. onding cycle in 0 s To update the configuration MU AMI 035 SN OPERATOR S MANUAL PAGE 3 5 NOVEMBER 2001 SENA GPS ISSUE 1 RELEASE 2 cycles new time new_time in seconds 30 s minimo 0 to disable gt cycles 300 New autoresponding time 300 s gt cycles 0 Autoresponding cycles disabled gt 3 2 8 MAXTIME command Description Parameters Example Authorized absence time configuration The GPS modem automatically counts the elapsed time out of the DockStation and send an alarm if the modem remains too long out of its base 1 New time in hours 0 to disable time alarm If no parameter is provided the modem will print the actual configuration gt maxtime The time alarm is disabled To update the configuration maxtime authorized hours out of the dockstation To disable the time alarm tiempo 0 gt maxtime 8 New authorized time out of the DockStation 8 gt maxtime 0 Time alarm disabled gt MU AMI 035 SN NOVEMBER 2001 OPERATOR S MANUAL PAGE 3 6 a SENA ISSUE 1 4 GPS RELEASE 2 3 2 9 LOCTIME command Description Local time configuration vs GPS time Parameters 1 Number of minutes that must be added to GPS time UTC to compute local time for example 60 min for Spain in winter This value can be negative If no parameter is provided the modem will print the actual configuration Note This command only exists in the software version working w
86. onisetmariatnateiovckaeswannadnniiounn 3 104 3 6 2 DockStation MenU ssssssssssrressurrrrssunnnrrnsnnnanenne 3 105 4 EXTERNAL COMMUNICAT TIONS ssssssssnnnnnnnnnnnnnnnnnnnnnnnn 4 1 4 1 INTRODUCTION sssssssssssssrrrssssssrsnnrnrrrrrrrrrerssrenrrrrrrne 4 1 4 2 INCOMING FRAMES scositenssaatanioces teniaiadsakewaimianswnaaaas 4 1 4 3 OUTGOING FRAMES icciiceridtiansommsecnibentednaot sacchari 4 1 44 TEXT MESSAGES ivcicerasstveiietitonrnevecbuitniaeds EEEE a 4 2 SAA Textord r format rsiirsaesiei ea 4 3 4 4 2 Alarms with text messages ssssssssssressrrnrenrresrerns 4 4 ee 6 0 8 ee ee ee ne eee 5 1 5 1 INTRODUCTION iicitiinieiieuieseraniveuienaatiniebieurynicsuaeins 5 1 5 2 AUTORESPONDING CYCLES cuscciiiwnimdnctastenccminveransaniacan 5 1 MU AMI 035 SN OPERATOR S MANUAL PAGE VII NOVEMBER 2001 A SENA ISSUE 1 WP crs RELEASE 2 The j GPS modem is a terminal supporting fax data transmission SMS short messages mobile originated or terminated and voice calls Hence in a fixed or mobile installation it allows communication establishment for instant localization and time control and permits transmitting orders and data between the modem and its GSM control center This document objective is to describe the commands and protocols available from the terminal The i 15 pin sub D connector is to connect the modem to a computer or a data terminal Once correctly connected the user may use this port to
87. ove the cursor to the beginning of the first line V x1B x5B x45 move the cursor to the beginning of the second line Vv x1B x5B x31 x3B x31 x48 move the cursor to the beginning of the current line V x13 x5B x31 x58 erase the character to the left of the cursor v Other prints the corresponding character MU AMI 035 SN OPERATOR S MANUAL PAGE 3 104 NOVEMBER 2001 GPS RELEASE 2 a SENA ISSUE 1 Battery charger sending x1B x5B x55 to the DockStation will ask for a battery charging status The DockStation will send back one byte v 0x61 battery currently charging v 0x62 battery charged v 0x63 battery error Inserting the modem into its DockStation automatically changes the current protocol to the DockStation mode even if the modem was in SiRF or NMEA mode Removing the modem from its DockStation will put it automatically to model or maintenance mode depending of the previously selected mode 3 6 2 DockStation menu In DockStation mode AT and maintenance commands are not valid The GPS module uses a reduced specific user menu to allow changing its configuration 1 Radio 2 Tiempo 1 Nuevo Radio Horas Ausencia Introduzca nuevo 1 confirmar Note In the software version with absolute time the menu Horas ausencia is converted to Hora limite de ausencia Ww 1 confirmar 1 confirmar MU AMI 035 SN OPERATOR S MANUAL PAGE 3 105 NOVEMBER 2001 A SENA ISS
88. s AAA AAA is the true bearing with reference to the geographical north not the magnetic north 90 is east The value is in degrees with 3 decimals The decimal separator is the point and the integer part length is variable 1 to 3 digits from 0 to 359 3 3 3 6 AT SNGPSTIME GPS time This command outputs the GPS time This command can be remotely called see 4 4 TEXT MESSAGES on page 4 2 Syntax AT SNGPSTIME lt CR gt Response SNGPSTIME AAAA BBBBBBBB lt CRLF gt OK lt CRLF gt Description AAAA 4 digits is the extended GPS week number e g not modulo 1024 BBBBBBBB 1 to 10 digits is the TOW time of week in 100s of seconds 3 3 3 7 AT SNGPSUTC UTC time This command outputs UTC time with leap seconds correction if available MU AMI 035 SN OPERATOR S MANUAL PAGE 3 21 NOVEMBER 2001 A SENA ISSUE 1 WP crs RELEASE 2 This command can be remotely called see 4 4 TEXT MESSAGES on page 4 2 Syntax AT SNGPSUTC lt CR gt Response SNGPSUTC YYYY MM DD hh mm ss lt CRLF gt OK lt CRLF gt Description YYYY 4 digits year MM 2 digits month DD 2 digits day hh 2 digits UTC time not the local time mm 2 digits minutes f ss 2 digits seconds 3 3 3 8 AT SNGPSCH GPS tracking channels This command outputs the list of tracked satellites Syntax AT SNGPSCH lt CR gt Response SNGPSCH XX1 AA1 EE1 SR1 lt CRLF gt SNGPSCH XX2 AA2 EE2 SR
89. sh To Fix gt power 1 Trickle Power mode enabled gt power 0 Power saving modes disabled gt 3 2 16 ECOTFN command Description Debug of the communication messages with the GSM module Parameters 1 Debug mode o 0 Debug disabled MU AMI 035 SN OPERATOR S MANUAL PAGE 3 11 NOVEMBER 2001 A SENA ISSUE 1 WP crs RELEASE 2 o 1 Debug of outgoing messages o 2 Debug of incoming messages o 3 Debug of all the messages If no parameter is provided the modem will print the actual configuration Example gt ecotin Ecotfn value 0 To update the configuration Ecotfn 0 ecotfn disabled Ecotfn 1 trace outgoing messages Ecotfn 2 trace incoming messages Ecotfn 3 trace all messages gt ecotfin 3 New ecotfn value 3 gt 3 2 17 RESET command Description Software reset of the module SRAM is erased and the GPS module will execute a cold start Parameters N A 3 2 18 AT command access to the modem mode Description Send an AT order to the GSM modem and switch to modem mode This is a special command After receiving any order beginning by AT example AT CMGF 1 AT CSQ ATE1 etc the module switch to modem mode See the corresponding chapter MODEM MODE on page 3 13 MU AMI 035 SN OPERATOR S MANUAL PAGE 3 12 NOVEMBER 2001 A SENA ISSUE 1 WP crs RELEASE 2 3 3 MODEM MODE 3 3 1 Introduction The modem mode uses the same physical layer as the maintenance mode sam
90. t to the Amigo with node number 2 It will activate its discrete output 0 means activate or set to OV and will answer with the text message AMIGO OK Example 3 the text message O00000003POS is sent to the Amigo with node number 2 The Amigo will not answer incorrect node number rejected message and will send to the maintenance port a incoming message indication 4 4 2 Alarms with text messages In binary mode communication with a control center the alarms and autoresponding cycles use extended position frames In text mode alarms are notified with text messages similar to the AT SNGPSPOS order but with a different header ALARM M N Lat Lon Alt e M Navigation mode No nav 2D 3D e N Satellites number e Lat Lon in degrees minutes decimals of minutes e Alt in meters see AT SNGPSPOS command for more information represents the Alarm reason 3 characters The possible value are the following e X02 autoresponding cycle e XD1 radius alarm e X80 time limit alarm MU AMI 035 SN OPERATOR S MANUAL PAGE 4 4 NOVEMBER 2001 a SENA ISSUE 1 GPS RELEASE 2 oe e X81 discrete input alarm MU AMI 035 SN OPERATOR S MANUAL PAGE 4 5 NOVEMBER 2001 a SENA ISSUE 1 WP crs RELEASE 2 YCLE 5 1 INTRODUCTION The GPS modem is able to manage time cycles These time cycles can be programmed via the maintenance serial port or via a configuration frame 3F frame
91. vigation mask to 33 dBHz tracking default value of 28 A0OA20003 Start Sequence and Payload Length 8C1C21 Payload OOC9BOB3 Message Checksum and End Sequence OPERATOR S MANUAL PAGE 3 54 a SENA ISSUE 1 GPS RELEASE 2 Table 2 4 6 12 a Power Mask Binary Hex Description Scale Example Message ID 8C ASCII 140 Tracking Mask 1C Not currentlv implemented Navigation Mask 2i Range 28 to 50 Payload Length 3 bytes 3 4 6 13 Editing Residual Message I D 141 Note Not implemented 3 4 6 14 Steady State Detection Message I D 142 Note Not implemented 3 4 6 15 Static Navigation Message I D 143 Note Not supported 3 4 6 16 Poll Clock Status Message I D 144 Clock status message will be returned in response to this message Table 2 4 6 16 a contains the input values for the following example Poll the clock status MU AMI 035 SN OPERATOR S MANUAL PAGE 3 55 NOVEMBER 2001 A SENA ISSUE 1 GPS RELEASE 2 Example AOA20002 Start Sequence and Payload Length 9000 Payload O0O90B0B3 Message Checksum and End Sequence Table 2 4 6 16 a Clock Status Binary Hex Description Scale Example Message ID 90 ASCII 144 TBD 00 Reserved Payload Length 2 bytes 3 4 6 17 Set DGPS Serial Port Message I D 145 The J GPS receiver does not support differential corrections Therefore this command should not be used 3 4 6

3.2 maintenance mode

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