1. Introduction Related Documents Binary Format Command Set Overview Common Commands...

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2 Contents 1. Introduction Related Documents Binary Format Command Set Overview Common Commands TX Oncore Message Syntax TX Oncore (12-Channel) Binary Command Subset Similar STM Messages BINARY COMMAND SETS POSITION FILTER SELECT COMAND (@@AQ) Description STM Compatibles Examples PULSE MODE SELECT COMMAND (@@AP) Description STM Compatibles Examples SATELLITE MASK ANGLE COMMAND (@@Ag) Description STM Compatibles Examples POSITION HOLD MESSAGE DATA MESSAGE (@@As) Description STM Compatibles Examples TIME CORRECTION SELECT (@@Aw) Description STM Compatibles... 25

3 Examples PPS TIME OFFSET COMMAND Description STM Compatibles Examples PPS CABLE DELAY CORRECTION COMMAND Description STM Compatibles Examples VISIBLE SATELLITE DATA MESSAGE Description STM Compatibles Examples LEAP SECOND STATUS MESSAGE Description STM Compatibles Examples UTC OFFSET OUTPUT MESSAGE Description STM Compatibles Examples SET TO DEFAULTS COMMAND Description STM Compatibles Examples RECEIVER ID Description STM Compatibles Examples... 40

4 Fields Placement M12M, TX Oncore Template TX Oncore s Reply i-lotus MCU CLOCK SPEED MESSAGE (@@CS) Description STM Compatibles Examples i-lotus DEBUG MESSAGE (@@Dm) Description STM Compatibles Examples i-lotus DEBUG MESSAGE MODE (@@DM) Description STM Compatibles Examples COMBINED TIME MESSAGE (@@Gb) Description Examples PPS CONTROL MESSAGE (@@Gc) Description STM Compatibles Examples POSITION CONTROL MESSAGE (@@Gd) Description STM Compatibles Examples TIME RAIM SELECT MESSAGE (@@Ge) Description STM Compatibles... 53

5 Examples TIME RAIM ALARM MESSAGE Description STM Compatibles Examples TIME RAIM EXTENDED ALARM MESSAGE Description STM Compatibles Examples LEAP SECOND PENDING MESSAGE Description STM Compatibles Examples Vehicle ID Description STM Compatibles Examples CHANNEL POSITION/STATUS/DATA MESSAGE Description STM Compatibles Examples CHANNEL SHORT POSITION MESSAGE Description STM Compatibles Examples CHANNEL TIME RAIM STATUS MESSAGE Description STM Compatibles Examples... 81

6 CHANNEL SELF-TEST MESSAGE Description STM Compatibles Examples i-lotus POSITIONAL SITE SURVEY SAMPLE SIZE Description STM Compatibles Examples SYSTEM POWER-ON FAILURE Description STM Compatibles Examples ENGAGE BINARY PROTOCOL Description STM Compatibles Examples SYSTEM FAILURE MESSAGE Description STM Compatibles Examples SYSTEM POWER-ON FAILURE Description STM Compatibles Examples NMEA Sentences Configuration Description STM Compatibles Examples... 94

7 4.34. NMEA Switch Description STM Compatibles Examples... 95

8 1. Introduction This document serves to provide the information necessary in facilitating easy migration from the M12M binary command set to the new i-lotus and STM combined command set Related Documents M12M GPS Receiver - User Guide TX Oncore User Guide TX Oncore Technical Data Sheet i-lotus NMEA Protocol Specification

9 2. Binary Format NOTE: In the following discussion and in ensuing areas of the manual concerned with communications protocols, data characters without any prefixes will be interpreted as decimal data, data beginning with 0x will be interpreted as hex data, and data beginning with a lower case 'b' will be interpreted as binary data. The native binary data messages used by all i-lotus receivers consist of a variable number of binary characters (hex bytes). For ease of use, many Oncore users commonly refer to these binary sequences by their ASCII equivalents. For instance, all binary messages begin with the hex characters '0x40 0x40', which most users convert to the ASCII equivalents: '@@'. The first two characters after the '@@' header comprise the Message ID and identify the particular structure and format of the remaining data. This message data can vary from one byte to over 150 bytes, depending on the message being transmitted or received. Immediately following the message data is a single byte checksum which is the Exclusive-Or (XOR) of all bytes after the '@@' and before the checksum). The message is terminated with the Carriage Return/Line Feed pair: 0x0D 0x0A. Summarizing, every binary message has the following components: Message - (two hex 0x40's) denote the start of binary message. Message ID: (A.Z(a..z, A..Z) - Two ASCII characters - the first an ASCII upper-case letter, followed by an ASCII lowercase or upper case letter. These two characters together identify the message type and imply the correct message length and format. Binary Data Sequence: A variable number of bytes of binary data dependent on the command type. Checksum: The Exclusive-Or of all bytes after the '@@', and prior to the checksum. Message Terminator: '0x0D 0x0A' - Carriage Return/Line Feed pair denoting the end of the binary message. Almost all receiver input commands have a corresponding response message so that you can determine whether the input command(s) have been accepted or rejected by the receiver. The message format descriptions in Chapter 5 detail the input command and response message formats. Information contained in the data fields is normally numeric. The interface design assumes that the operator display is under the control of an external system data processor and that display and message formatting code reside in its memory. This approach gives you complete control of the display format and language. All i-lotus receivers read command strings in the input buffer once per second. If a full command has been received, the receiver operates on that command and performs the indicated function. Input character string checks are performed on the input commands. A binary message is considered to be valid if it began with the '@@' characters, the message is the correct length for its type, the checksum validates, and the command is terminated with a CR/LF pair. Improperly formatted messages are discarded. You must take care in correctly formatting the input command. Pay particular attention to the number of parameters and their valid ranges. An invalid message could be interpreted as a valid unintended message. A beginning '@@', a valid checksum, a terminating carriage return/line feed, the correct message length and valid parameter ranges are the only indicators of a valid input command to the receiver. For multi-parameter input commands, the receiver will reject the entire command if one of the input parameters is out of range.

10 Once the input command is detected, the receiver validates the message by checking the checksum byte in the message. Input and output data fields contain binary data that can be interpreted as scaled floating point or integer data. The field width and appropriate scale factors for each parameter are described in the individual I/O message format descriptions. Polarity of floating point data (positive or negative) is described via the two's complement presentation. Input command messages can be stacked into the receiver input buffer up to the depth of the message buffer (1200 characters long). The receiver will operate on all full messages received during the previous one second interval and will process them in the order they are received. Previously scheduled messages may be output before the responses to the new input commands. Almost all input commands have a corresponding output response message. Input commands may be of the type that changes configuration parameters of the receiver. Examples of these input command types include commands to change the initial position, receiver internal time and date, satellite almanac, etc. These input commands, when received and validated by the receiver, change the indicated parameter and result in a response message to show the new value of the parameter that was changed. If the new value shows no change, then the input command was either formatted improperly, or one of the input parameters was out of its valid range.

11 3. Command Set Overview The Binary commands can be used to initialize, configure, control and monitor the receivers. The binary commands are supported on the primary communications port at 9600 baud. Immediately following this page are listings of the input commands in alphabetical order. Command and response structures are detailed on subsequent pages. The input and output data fields following the message headers contain binary data that can be interpreted as scaled floating point or integer data. The field width and appropriate scale factors for each parameter are described in the individual I/O message format descriptions. Polarity of floating point data is described via two's complement presentation. Input commands may also be of the type query current parameter status, or enable and disable the output of data or status messages. These output status messages include those that the external controller will use for obtaining position, velocity, time, and status data. Some care must be exercised in interpreting the command arguments. On the following pages it sometimes makes sense to display the command arguments as ASCII characters, while in others the hex representation may be a little clearer. As mentioned previously, the receiver doesn t really care which method is used to generate the messages sent to the receiver so long as the binary strings sent to the receiver meet the specifications. Where possible, complete hex command strings have been included as examples of what the complete command strings look like. Once a basic understanding of the message protocols is developed by the user, things will become much clearer. Also included in this chapter are message structures for the seven NMEA messages supported by the positioning receiver Common Commands There are a number of commands that are common to the legacy M12M receiver, as listed below. Binary Binary Binary M12M M12M Commands Commands @@CS TX @@Dm TX @@DM TX @@Ay TX @@Sz TX @@Wb TX TX Oncore TX @@NS TX @@SF TX Oncore Only Table Comparison table

12 3.2. TX Oncore Message Syntax ID><CS><CR><LF> <Message ID> <CS> <CR><LF> 2-Byte Characters Motorola proprietary sentence prefix header 2-Byte Characters (Case-Sensitive) Message ID and identify the particular structure and format of the remaining data Message data can vary from 1 byte to over 150 bytes, depending on the message being transmitted or received. This message data can be interpreted as scaled floating point or integer data. The field width and appropriate scale factors for each Message Data are described in the individual I/O message format description. Polarity of floating point data is described via two's complement presentation. Input commands may also be of the type query current Message Data status, or enable and disable the output of data or status messages. These output status messages include those that the external controller will use for obtaining position, velocity, time, and status data. 1-byte Hexadecimal (Case-Sensitive) This value is the checksum which is the Exclusive-Or (XOR) of all bytes after and before Checksum inclusively. 0x0D 0x0A Carriage-Return and Linefeed symbol to indicate end of sentence 3.3. TX Oncore (12-Channel) Binary Command Subset Binary Command Description M12M / TX Oncore Navigation Position Filter Pulse Mode Satellite Mask Hold Position Message UTC Time Correction 1PPS Time 1PPS Cable Satellite Leap Second UTC Offset MCU Clock Speed (i-lotus @@GF Debug Message Mode (i-lotus proprietary) Debug Message from Device (i-lotus Proprietary) Extended Time RAIM Alarm (i-lotus Combined 1PPS Position Time RAIM Select

13 Time RAIM Alarm with Extended Feature (Semi i-lotus proprietary) Leap Second Pending Vehicle ID Position / Status / Data (12 Short Time RAIM Status Message (12 Self-Test (12 i-lotus Positional Site Survey Sample Size (i-lotus System Power-On Engage Binary I-Lotus System Failure I-Lotus NMEA Sentence I-Lotus NMEA Switch

14 3.4. Similar STM Messages TX Oncore Binary Command Description STM Compatible Command Position Filter Select $PSTMiMAQ Pulse Mode Select $PSTMiMAP Satellite Mask Angle $PSTMiMAg Hold Position Message Data $PSTMiMAs UTC Time Correction Option $PSTMiMAw 1PPS Time Offset $PSTMiMAy 1PPS Cable Delay $PSTMiMAz Satellite Visibility $GPGSV Leap Second Status $PSTMiMBj UTC Offset Output $PSTMiMBo MCU Clock Speed $PSTMiMCS (i-lotus proprietary) Set-To-Default $PSTMiMCf Receiver ID $PSTMiMCj Debug Message Mode $PSTMiMDM (i-lotus proprietary) Debug Message from Device $PSTMiMDm (i-lotus Proprietary) Extended Time RAIM Alarm (i-lotus proprietary) $PSTMiMGF $PSTMENABLETRAIM Combined Time $PSTMiMGb 1PPS Control $PSTMiMGc Position Control $PSTMiMGd Time RAIM Select $PSTMiMGe $PSTMENABLETRAIM $PSTMDISABLETRAIM Time RAIM Alarm with Extended Feature (Semi i-lotus Proprietary) $PSTMiMGF $PSTMENABLETRAIM Leap Second Pending $PSTMiMGj Vehicle ID $PSTMiMGk Position / Status / Data (12 $PSTMiMHa Short Position Time RAIM Status Message (12 $PSTMTRAIM i-lotus Positional Site Survey $PSTMiMLS Sample Size (i-lotus Engage Binary Protocol $PSTMiMWb

15 4. BINARY COMMAND SETS 4.1. POSITION FILTER SELECT COMAND Applicability: TX Oncore Positioning and Timing receivers Description This message enables or disables the position filter. This command is common to the M12M legacy command-set. Set or Query Position Filter <Position Filter Mode> for Position Filter Query or Set <Position Filter Mode> Exception Handling <Position Filter Mode> <Position Filter Mode> <Position Filter Mode> -1 (0xFF) = Query current Position Filter Mode 0 (0x00) = Disable Position Filter 1 (0x01) = Enable Position Filter 0 (0x00) = Position Filter is Disabled 1 (0x01) = Position Filter is Enabled 0x02 to 0xFE TX Oncore will assume the message is a query message, i.e. same as parameter = 0xFF STM Compatibles $PSTMiMAQ

16 Examples Example 1 Enable Position Filter 1 <CS><CR><LF> 0x <CS> 0D 1 <CS><CR><LF> 0x <CS> 0D 0A Message ID AQ AQ Message Data Checksum <CS> <CS> Example 2 Query Position Filter -1 <CS><CR><LF> 0x FF EF 0D 1 <CS><CR><LF> 0x <CS> 0D 0A Message ID AQ AQ Message Data -1 FF 1 01 Checksum <CS> EF <CS> 11 Example 3 Disable Position Filter 0 <CS><CR><LF> 0x <CS> 0D 0 <CS><CR><LF> 0x <CS> 0D 0A Message ID AQ AQ Message Data Checksum <CS> 10 <CS> 10 Example 4 Position Filter testing out of range limit 2 <CS><CR><LF> 0x <CS> 0D 0 <CS><CR><LF> 0x <CS> 0D 0A Message ID AQ AQ Message Data Checksum <CS> 12 <CS> 10

17 4.2. PULSE MODE SELECT COMMAND Applicability: TX Oncore Timing receivers Description This message is to determine the output of the PPS pin Set or Query Pulse Mode <Pulse Mode> <Pulse Mode> for Position Filter Query or Set <Pulse Mode> <PulseMode> Exception Handling <Pulse Mode> -1 (0xFF) = Query current Pulse Mode 0 (0x00) = 1PPS 1 Pulse per second 1 (0x01) = 1PPS, as 100PPS is not supported 2 (0x02) = 1PP2S 1 Pulse per 2 seconds 3 (0x03) = 1PP3S 1 Pulse per 3 seconds 4 (0x04) = 1PP4S 1 Pulse per 4 seconds 161 (0xA1) = -1PPS Inverted 1 Pulse per second 162 (0xA2) = -1PP2S Inverted 2 Pulse per second 163 (0xA3) = -1PP3S Inverted 3 Pulse per second 164 (0xA4) = -1PP4S Inverted 4 Pulse per second 0 (0x00) = 1PPS is enabled 2 (0x02) = 1PP2S is enabled 3 (0x03) = 1PP3S is enabled 4 (0x04) = 1PP4S is enabled 161 (0xA1) = -1PPS is enabled 162 (0xA2) = -1PP2S is enabled 163 (0xA3) = -1PP3S is enabled 164 (0xA4) = -1PP4S is enabled 0x05 to 0xA0, 0xA5 to 0xFE TX Oncore will assume the message is a query message, i.e. same as parameter = 0xFF STM Compatibles $PSTMiMAP

18 Examples Example 1 Setting the Pulse Mode to 1PP2S 02 <CS><CR><LF> 0x C 0D 02 <CS><CR><LF> 0x C 0D 0A Message ID AP AP Message Data Checksum <CS> <CS> Example 2 Querying the Pulse Mode 0-1 <CS><CR><LF> 0x FF 2C 0D -1 <CS><CR><LF> 0x C 0D 0A Message ID AP AP Message Data -1 FF Checksum <CS> <CS>

19 4.3. SATELLITE MASK ANGLE COMMAND Applicability: TX Oncore Positioning and Timing receivers Description The receiver will attempt to track satellites for which the elevation angle is greater than the satellite mask angle. This Message Data allows the user to control the elevation angle that was used for this decision. Typical values are between 5 and 10 degrees. Depending on the antenna used, the receiver is capable of tracking satellites down to the horizon, but range and therefore time errors will increase due to atmospheric distortion of the signals from the low satellites. Set or Query Satellite Mask <Satellite Mask Angle> <Satellite Mask Angle> -1 (0xFF) = Query current Satellite Mask Angle 0 (0x00) to 89 (0x59) = Set Satellite Mask Angle to 0 to 89 degrees > 89 = Ignore setting and response with previously set value TX Oncore 0 (0x00) to 30 (0x1E) is valid range > 30 and <= 89 Max set is 30 > 89 = Ignore setting and response with previously set value for Satellite Mask <Satellite Mask Angle> <Satellite Mask Angle> Exception Handling <Satellite Mask Angle> 0 (0x00) to 30 (0x1E) = Satellite Mask Angle is 0 to 89 degrees 0x60 to 0xFE TX Oncore will assume the message is a query message, i.e. same as parameter = 0xFF

20 STM Compatibles $PSTMiMAg is similar to Set Satellite Mask Angle $PSTMiMAg,*<CR><LF> Query Satellite Mask Angle $PSTMiMAg<CR><LF> or $PSTMiMAg*<CR><LF> <Satellite Mask Angle> <Satellite Mask Angle> float 0.0 to 30.0 is valid range for Satellite Mask Angle $PSTMiMAg,<CR><LF> <Satellite Mask Angle> <Satellite Mask Angle> float 0.0 to 30.0 = Satellite Mask Angle is 0.0 to 30.0 degrees Exception Handling <Satellite Mask Angle> float > 30.0 An error message $PSTMiMAg,ERROR<CR><LF> will be returned Examples Example 1 Setting the Satellite Mask Angle to 10 degrees 10 <CS><CR><LF> 0x A 2C 0D 10 <CS><CR><LF> 0x A 2C 0D 0A Message ID Ag Ag Message Data 10 0A 10 0A Checksum <CS> 2C <CS> 2C Example 2 Querying the Satellite Mask Angle -1 <CS><CR><LF> 0x FF D9 0D 10 <CS><CR><LF> 0x A 2C 0D 0A Message ID Ag Ag Message Data -1 FF 10 0A Checksum <CS> D9 <CS> 2C Example 3 Setting the Satellite Mask Angle to 30 degrees 30 <CS><CR><LF> 0x E 7F 0D 30 <CS><CR><LF> 0x E 38 0D 0A

21 Message ID Ag Ag Message Data 30 1E 30 1E Checksum <CS> 38 <CS> 38 Example 4 Setting the Satellite Mask Angle to 90 degrees (Parameter Out-of-Limit Test) 90 <CS><CR><LF> 0x A 2C 0D 30 <CS><CR><LF> 0x E 38 0D 0A In this example, the original satellite mask angle is set to 30 degrees. This command attempts to set it to 90 degrees. TX Oncore ignores the 90 degrees setting, and output 30 degrees (0x0A), which was previously set, instead. Any value entered which is out-of-range, the software will return the last valid output. Message ID Ag Ag Message Data 90 5A 30 1E Checksum <CS> 2C <CS> 38

22 4.4. POSITION HOLD MESSAGE DATA MESSAGE Applicability: TX Oncore Positioning and Timing receivers Description The user can specify Position Hold coordinates both for timing applications to increase the timing accuracy and when the receiver is used as a source of differential correction data. This command is used to enter the position to be held. The position is specified in the same units and referenced to the same datum as the initial position coordinates of latitude, longitude and height (to the same resolution). The height Message Data is referenced to the GPS reference ellipsoid. Note that all three Message Data must be specified. Note: This command will only be executed if Position Hold is disabled. Position Hold is controlled using message. Set or Query Position Hold Message <Latitude><Longitude><Height><Height Type> <Latitude> 8 Nibbles -1 (0xFF FF FF FF) = Query Position Hold Message Data Value in mas (milli-seconds) -324,000,000 (0xEC B ) to 324,000,000 (0x13 4F D9 00) representing -90 to +90 <Longitude> <Height> 8 Nibbles 8 Nibbles <Height Type> for Position Hold Message <Latitude><Longitude><Height><Height Type> <Latitude> 8 Nibbles <Longitude> <Height> 8 Nibbles 8 Nibbles -1 (0xFF FF FF FF) = Query Position Hold Message Data Value in mas (milli-seconds) -648,000,000 (0xD9 DA 60 00) to 648,000,000 (0x26 9F B2 00) representing -180 to (0xFF FF FF FF) = Query Position Hold Message Data Value in cm -150,000 (0xFF FD B6 10) to 1,800,000 (0x00 1B 77 40) representing -1.5 KM to 18 KM 0 (0x00) for GPS Height -1 (0xFF FF FF FF) = Query Position Hold Message Data Value in mas (milli-seconds) -324,000,000 (0xEC B ) to 324,000,000 (0x13 4F D9 00) representing -90 to (0xFF FF FF FF) = Query Position Hold Message Data Value in mas (milli-seconds) -648,000,000 (0xD9 DA 60 00) to 648,000,000 (0x26 9F B2 00) representing -180 to +180 Value in cm -150,000 (0xFF FD B6 10) to 1,800,000 (0x00 1B 77 40) representing -1.5 KM to 18 KM

23 <Height Type> Exception Handling <Latitude>,<Longitude>,<Height> <Height Type> 8 Nibbles 0 (0x00) for GPS Height For out-of-range parameters, TX Oncore will assume the message is a query message, i.e. same as parameter = 0xFFFFFFFF For unsupported height type, TX Oncore will assume the message is a query message STM Compatibles $PSTMiMAs Examples Example 1 Setting the Position Hold Message Data <CS><CR><LF> 0x E B <CS> 0D As <CS><CR><LF> 0x E B <CS> 0D 0A Message ID Ag Ag Message Data E E0 Message Data B B 20 Message Data Message Data Checksum <CS> <CS> Example 2 Querying the Position Hold Message Data -1 <CS><CR><LF> 0x FF FF FF FF FF FF FF FF FF FF FF FF 00 <CS> 0D 1 <CS><CR><LF> 0x E B <CS> 0D 0A Message ID As As Message Data1-1 FF FF FF FF E0 Message Data2-1 FF FF FF FF B 20 Message Data3-1 FF FF FF FF 30 m Message Data4 0 FF 0 00 Checksum <CS> <CS> Example 3 Setting the Position Hold Message Data (Parameter out-of-limit test) <CS><CR><LF> 0x C D6 A B <CS> 0D As <CS><CR><LF> 0x E B <CS> 0D 0A

24 Message ID Ag Ag Message Data C E0 Message Data D6A B 20 Message Data Message Data Checksum <CS> <CS> Example 4 Setting the Position Hold Message Data <CS><CR><LF> 0x E B <CS> 0D As <CS><CR><LF> 0x E B <CS> 0D 0A Message ID Ag Ag Message Data E E0 Message Data B B 20 Message Data Message Data Checksum <CS> <CS>

25 4.5. TIME CORRECTION SELECT Applicability: TX Oncore Positioning and Timing receivers Description This command selects the time reference (either GPS or UTC) used in the 12 Channel Position/Status/Data and Short Position Messages. This Time command is also used to determine the synchronization point for the 1PPS timing pulse. Note: If the receiver has not downloaded the UTC Message Data portion of the almanac, the receiver will output time equal to GPS time and a flag denoting the lack of UTC Message Data will be set in message. Once the receiver has downloaded the UTC Message Data from the satellites the receiver will automatically switch the time reference to UTC if UTC mode is selected. Set or Query Time Correction <Time Mode> <Time Mode> for Time Correction <Time Mode> <Time Mode> Exception Handling <Time Mode> -1 (0xFF) = Query Time Correction Select 0 (0x00) = GPS Time Mode 1 (0x01) = UTC Time Mode 0 (0x00) = GPS Time Mode 1 (0x01) = UTC Time Mode If this parameter is out-of-range, this message will be emulated to display M12+ responses 2 (0x02) = GPS Time Mode 3 (0x03) = UTC Time Mode 4 (0x04) = GPS Time Mode 5 (0x05) = UTC Time Mode 6 (0x06) = GPS Time Mode 7 (0x07) = UTC Time Mode -2 (0xFE) = UTC Time Mode STM Compatibles $PSTMiMAw

26 Examples Example 1 Setting the Time Mode to UTC Time via Time Correction Select 1 <CS><CR><LF> 0x <CS> 0D 1 <CS><CR><LF> 0x <CS> 0D 0A Message ID Aw Aw Message Data Checksum <CS> 37 <CS> 37 Example 2 Querying the Time Mode via Time Correction Select -1 <CS><CR><LF> 0x FF <CS> 0D 1 <CS><CR><LF> 0x <CS> 0D 0A Message ID Aw Aw Message Data -1 FF 1 01 Checksum <CS> C9 <CS> 37 Example 3 Parameter Out-of-Limit Test 2 <CS><CR><LF> 0x <CS> 0D 0 <CS><CR><LF> 0x <CS> 0D 0A Message ID Aw Aw Message Data Checksum <CS> 38 <CS> 36 Example 4 M12+ Anomalies 3 <CS><CR><LF> 0x <CS> 0D 1 <CS><CR><LF> 0x <CS> 0D 0A command previously was set to 1 (UTC time mode). When tested with values 2, 4, 6, it responded with 0. When tested with values 3, 5, 7, it responded with 1. When tested with values 8 to 15, it responded with 1. See attached image. Conclusion: When the command was set to a value over its range, it will randomly set the mode to 0 or 1 in no particular order. For TX Oncore, any out-of-range value will be treated as a Query. Message M12+ M12M TX @@Aw

27 A B C D E F FF

28 4.6. 1PPS TIME OFFSET COMMAND Applicability: TX Oncore Timing Receivers Description The TX Oncore outputs a one pulse-per second (1PPS) signal with the rising edge placed on top of the UTC or GPS one second tic mark, depending on which time reference has been selected by the user. The 1PPS Time Offset command allows the user of TX Oncore Timing Receivers to offset the 1PPS time mark in one nanosecond increments. This offset can be used to place the 1PPS signal anywhere within the one second epoch. The resolution of this Message Data is one nanosecond. This does not imply that the 1PPS output by the TX Oncore is accurate to this level. This command only allows the user to change the location of the average placement of the pulse. The absolute accuracy of the signal is a function of GPS time accuracy, and is subject to degradation due to U.S. Department of Defense policy. Set or Query 1PPS Time <Time Offset> <Time Offset> 8 Nibbles for 1PPS Time <Time Offset> <Time Offset> 8 Nibbles Exception Handling <Time Offset> 8 Nibbles -1 (0xFF FF FF FF) = Query 1PPS Time Offset Value in nanoseconds 0 (0x ) to 999,999,999 (0x3B 9A C9 FF) representing 0 to seconds Value in nanoseconds 0 (0x ) to 999,999,999 (0x3B 9A C9 FF) representing 0 to seconds If parameter is out-of-range, this message will be treated as a query message 200 ms 800 ms Original 1PPS Signal ,000,000'

29 STM Compatibles $PSTMiMAy Examples Set 50 <CS><CR><LF> 0x D 0A 50 <CS><CR><LF> 0x A 0D 0A Message ID Ay Ay Message Data Checksum <CS> 38 <CS> 0A Example 2 Querying the 1PPS Time Offset -1 <CS><CR><LF> 0x FF FF FF FF <CS> 0D 50 <CS><CR><LF> 0x A 0D 0A Message ID Ay Ay Message Data -1 FF FF FF FF Checksum <CS> 38 <CS> 0A Example 3 Setting the 1PPS Time Offset by ns <CS><CR><LF> 0x B 9A C9 FF AF 0D <CS><CR><LF> 0x B 9A C9 FF AF 0D 0A Message ID Ay Ay Message Data B 9A C9 FF B 9A C9 FF Checksum <CS> AF <CS> AF Example 4 Parameter Out-of-Limit Test <CS><CR><LF> 0x B 9A CA D <CS><CR><LF> 0x B 9A CA 00 AF 0D 0A In this example, the original 1pps time offset is set to ns. This command attempts to set it to ns. Any value entered which is out-of-range, the software will return the last valid output. Message ID Ay Ay Message Data B 9A CA B 9A C9 FF Checksum <CS> 53 <CS> AF Example 5 M12+ Anomalies

30 Set See below table See below table See below table See below table The following anomaly is found with M12+ = The responded value is sometime 1 ns smaller than the set value. M12M does not show to have this anomaly. TX Oncore will follow M12M characteristics for this anomaly. Message M12+ M12M TX Oncore FF FF FF FF FF FF F PPS CABLE DELAY CORRECTION COMMAND (@@Az)

31 Applicability: TX Oncore Timing Receivers Description The TX Oncore timing receiver outputs a 1PPS signal, the rising edge of which is placed at the top of the GPS or UTC one second time mark epoch as specified by the Time Mode command. The 1PPS Cable Delay Correction command allows the user to offset the 1PPS time mark in one nanosecond increments relative to the measurement epoch. This Message Data instructs the GPS receiver to output the 1PPS output pulse earlier in time to compensate for antenna cable delay. Up to one millisecond of equivalent cable delay can be removed. Zero cable delay is set for a zero-length antenna cable. The user should consult a cable data book for the delay per unit length for the particular antenna cable used in order to compute the total cable delay needed for a particular installation. This Message Data may also be employed by the user to adjust the position of the 1PPS to compensate for other system delays. Set or Query 1PPS Cable Delay <Cable Delay Correction> <Cable Delay Correction> 8 Nibbles -1 (0xFF FF FF FF) = Query 1PPS Cable Delay Correction Value in nanoseconds 0 (0x ) to 999,999 (0x00 0F 42 3F) representing 0 to seconds for 1PPS Cable Delay <Cable Delay Correction> <Cable Delay Correction> Exception Handling <Cable Delay Correction> 8 Nibbles 8 Nibbles Value in nanoseconds 0 (0x ) to 999,999 (0x00 0F 42 3F) representing 0 to seconds If parameter is out-of-range, this message will be treated as a query message 200 ms 800 ms Original 1PPS 400,000' 400 µs Not to Scale

32 STM Compatibles $PSTMiMAz Examples Example 1 Setting the 1PPS Cable Delay Correction by 50 ns 50 <CS><CR><LF> 0x A 32 <CS> 0D 50 <CS><CR><LF> 0x A 32 <CS> 0D 0A Message ID Az 41 7A Az 41 7A Message Data Checksum <CS> 09 <CS> 09 Example 2 Querying the 1PPS Cable Delay Correction -1 <CS><CR><LF> 0x A FF <CS> 0D 50 <CS><CR><LF> 0x A 32 <CS> 0D 0A Message ID Az 41 7A Az 41 7A Message Data -1 FF Checksum <CS> 3B <CS> 09 Example 3 Setting the 1PPS Cable Delay Correction by ns <CS><CR><LF> 0x A 00 0F 42 3F <CS> 0D <CS><CR><LF> 0x A 00 0F 42 3F <CS> 0D 0A Message ID Az 41 7A Az 41 7A Message Data F 42 3F F 42 3F Checksum <CS> 49 <CS> 49 Example 4 Parameter Out-of-Range Test <CS><CR><LF> 0x A 00 0F <CS> 0D <CS><CR><LF> 0x A 00 0F <CS> 0D 0A In this example, the original 1pps cable delay correction is set to ns. This command attempts to set it to ns. Any value entered which is out-of-range, the software will return the last valid output. Message ID Az 41 7A Az 41 7A Message Data F Checksum <CS> 36 <CS> 09

33 Example 5 M12+ Anomaly Set See Below Table See Below Table See Below Table See Below Table The following anomaly is found with M12+ = The responded value is sometime 1 ns smaller than the set value. M12M does not show to have this anomaly. TX Oncore will follow M12M characteristics for this anomaly. Message M12+ M12M TX Oncore FF FF FF F

34 4.8. VISIBLE SATELLITE DATA MESSAGE Applicability: TX Oncore Timing and Positioning Receivers Description This command requests the results of the most current satellite visibility computation. The response message gives a summary of the satellite visibility status showing the number of visible satellites, the Doppler frequency and the location of the current visible satellites. The reference position for the most recent satellite alert is the current position coordinates. Note that these coordinates may not be compared to the GPS receiver s actual position when initially turned on, since the GPS receiver may have moved a great distance since it was last used. Note: message from the M12+ will contain information for a maximum of 12 satellites. If less than 12 satellites are visible, unneeded fields will be filled with zeros. If there are more than 12 visible SVs visible, then details (SVID, Doppler, Elevation, etc.) of ONLY the 12 highest SVs will be reported in the message. Query Leap Second <Mode> <Mode> 0 (0x00) = Query for Visible Satellite Data 1 (0x01) = Respond whenever there is a change of visible satellite data, approximately once every 5 to 7 seconds for Leap Second Status <Num of Satellites> <SVID 1 ><Doppler 1 ><Elevation 1 ><Azimuth 1 ><Health 1 > <SVID 12 ><Doppler 12 ><Elevation 12 ><Azimuth 12 ><Health 12 > <Num of Satellites > 0 (0x00) to 12 (0x0C) of visible satellites <SVID n > 1 (0x00) to 32 (0x20) = Satellite ID <Doppler n > 4 Nibbles -5,000 (0xEC78) to 5,000 (0x1388) Hz of Doppler <Elevation n > 0 (0x00) to 90 (0x5A) of degrees of elevation <Azimuth n > 4 Nibbles 0 (0x00) to 359 (0x0167) of degrees of azimuth <Health n > 0 (0x00) = Healthy and not removed 1 (0x01) = Unhealthy and removed Exception Handling <Mode> When this parameter is out of range, this message will be treated as a query message <Doppler n > 4 Nibbles Currently this field is not supported. NULL will be returned for this field.

35 STM Compatibles $GPGSV Examples Example 1 Querying the Visible Satellite Data 0 <CS><CR><LF> 0x ?? 00 <CS> 0D 0 <CS><CR><LF> 0x ???????????????? <CS> 0D 0A Message ID Bb 42?? Bb 42?? Message Data 0 00????????????? Checksum <CS>?? <CS> 28

36 4.9. LEAP SECOND STATUS MESSAGE Applicability: TX Oncore Timing and Positioning Receivers Description This message polls the receiver for current leap second status information that has been decoded from the Navigation Data message received from the GPS satellites. The data sent back by the receiver provides specific date and time information pertaining to any future leap second addition or subtraction. Leap seconds are occasionally inserted in UTC and generally occur on midnight UTC June 30 th or midnight UTC December 31 st. The GPS control segment typically notifies GPS users of pending leap second insertions to UTC several weeks before the event. When a leap second is inserted, the time of day will show a value of '60' in the second field. When a leap second is removed, the date will roll over at 58 seconds. The 'current UTC offset' will be zero if the receiver is set up to run in GPS time mode instead of UTC. Query Leap Second <Leap Second Status> <Leap Second Status> 0 (0x00) = Query Leap Second Status for Leap Second Status <Leap Second Status> <Leap Second Status> 0 (0x00) = No Leap Second Pending 1 (0x01) = Addition of One Second Pending 2 (0x02) = Subtraction of One Second Pending Exception Handling <Leap Second Status> When this parameter is out of range, this message will be treated as a query message STM Compatibles $PSTMiMBj

37 Examples Example 1 Querying the Leap Second Status 0 <CS><CR><LF> 0x A 00 <CS> 0D 0 <CS><CR><LF> 0x A 00 <CS> 0D 0A Message ID Bj 42 6A Bj 42 6A Message Data Checksum <CS> 28 <CS> 28 Example 2 Parameter Out-of-Range Test 1 <CS><CR><LF> 0x A 01 <CS> 0D 0 <CS><CR><LF> 0x A 00 <CS> 0D 0A Message ID Bj 42 6A Bj 42 6A Message Data Checksum <CS> 29 <CS> 28 Example 3 Missing Parameter Test <CS><CR><LF> 0x A 01 <CS> 0D 0A invalid length of 0, expected 1

38 4.10. UTC OFFSET OUTPUT MESSAGE Applicability: TX Oncore Timing and Positioning Receivers Description This message allows the user to request the UTC offset that is currently being used in the time solution. The value reported is the integer number of seconds between UTC and GPS time. If the offset reported by the receiver is zero and UTC is the selected time reference, the receiver does not currently have the portion of the almanac that contains the UTC Message Data. The UTC Message Data are broadcast by the satellites as part of the almanac, which is repeated every 12.5 minutes. The message can be set to output either once (polled), or any time the UTC offset has been updated or changed from its previous value. Set UTC Offset Output Message <Mode> <Mode> for UTC Offset Output Message Command <Offset> <Offset> Exception Handling <Offset> 0 (0x00) = Output UTC Offset once (polled) 1 (0x01) = Output UTC Offset every time it is updated Value in seconds -128 (0x80) to +127 (0x7F) representing -128 to 127 seconds If this parameter is out-of-range, this message will be ignored; i.e. no response will be given STM Compatibles $PSTMiMBo Examples Example Set the UTC Offset Output Message 1 <CS><CR><LF> 0x F 01 <CS> 0D 15 <CS><CR><LF> 0x F 15 <CS> 0D 0A Message ID Bo 42 6F Bo 42 6F Message Data F Checksum <CS> 2E <CS> 22 Example Parameter Out-of-Range Test 2 <CS><CR><LF> 0x F 02 <CS> 0D 0A No response The command was set from 2 to 15 and no reply will be given by the receiver. The message data will depend upon the almanac's UTC parameters from the satellites.

39 4.11. SET TO DEFAULTS COMMAND Applicability: TX Oncore Timing and Positioning Receivers Description This command sets the entire GPS receiver Message Data to their default values. Performance of this utility results in all continuous messages being reset to poll only output, and clears the almanac, ephemeris, time, and date data. Set to Default Command None for Set to Default Command None Exception Handling None STM Compatibles $PSTMiMCf Examples Example Set to Default Query 0x D 0A 0x D 0A Message ID Cf Cf Message Data None None None None Checksum <CS> 25 <CS> 25

40 4.12. RECEIVER ID Applicability: TX Oncore Timing and Positioning Receivers Description The receiver outputs an ID message upon request. The information contained in the ID string is selfexplanatory. The model number can be used to determine the type of receiver installed. Query Receiver ID None for Leap Second Status Query <> <> 294 characters An array of 294 characters will be responded. Exception Handling None STM Compatibles $PSTMiMCj Examples Example Query Receiver ID Query 0x A 29 0D 0A array 0x40 40 array Header Message ID Cj 43 6A Message Data None None See Table below Checksum <CS> 29 Terminator <CR><LF> 0D 0A Fields Placement Placement Formula : Starting Location of Field = Row * 25 + Column Field Array Row Column Max Characters Full Name SFTW P/N Software Part Number SOFTWARE VER Software Version Number SOFTWARE REV Software Revision Number SOFTWARE DATE Software Released Date MODEL # Model Number HDWR P/N Hardware Part Number SERIAL # Serial Number of Module MANUFACTUR DATE Module Manufactured Date

41 M12M, TX Oncore Template C j cr lf C O P Y R I G H T X 2 sp i - L O T U S. sp sp sp sp sp cr lf S F T W sp P / N sp 3 # sp X X X X X X X X X X X X X X X cr lf S O F T W A 4 R E sp V E R sp # X X X X X X X X X X X X cr lf S O F 5 T W A R E sp sp R E V sp # X X X X X X X X X X X cr lf 6 S O F T W A R E sp D A T E sp sp X X X X X X X X X X 7 X cr lf M O D E L sp # sp sp sp sp X X X X X X X X X X X 8 X X X X cr lf H D W R sp P / N sp # sp X X X X X X X X 9 X X X X X X X cr lf S E R I A L sp # sp sp sp X X X X X 10 X X X X X X X X X X cr lf M A N U F A C T U R sp D A 11 T E sp sp X X X X X X X X X cr lf sp sp sp sp sp sp sp sp sp sp 12 sp sp sp sp sp sp sp sp sp sp sp sp sp sp sp sp cs cr lf TX Oncore s Reply C j cr lf C O P Y R I G H T sp i - L O T U S. sp sp sp sp sp cr lf S F T W sp P / N sp 3 # sp I L - F R W B sp sp cr lf S O F T W A 4 R E sp V E R sp # N sp sp sp sp sp sp sp cr lf S O F 5 T W A R E sp sp R E V sp # A sp sp sp sp sp sp sp sp sp sp cr lf 6 S O F T W A R E sp D A T E sp sp sp sp sp sp 7 sp cr lf M O D E L sp # sp sp sp sp I L - G P S B sp sp cr lf H D W R sp P / N sp # sp B - P 9 C B A cr lf S E R I A L sp # sp sp sp N J M M J sp sp cr lf M A N U F A C T U R sp D A 11 T E sp sp sp sp sp cr lf sp sp sp sp sp sp sp sp sp sp 12 sp sp sp sp sp sp sp sp sp sp sp sp sp sp sp sp cs cr lf

42 4.13. i-lotus MCU CLOCK SPEED MESSAGE Applicability: TX Oncore Positioning and Timing Receivers Description This message allows the user to choose the MCU Clock Speed to operate. Set or Query MCU Clock Speed Message <MCU Clock Speed> <MCU Clock Speed> to 1PPS Control Message <MCU Clock Speed> <MCU Clock Speed> Exception Handling <MCU Clock Speed> -1 (0xFF) = Query MCU Clock Speed 0 (0x00) = Factory Default 1 (0x01) = 32 MHz 2 (0x02) = 64 MHz 1 (0x01) = 32 MHz 2 (0x02) = 64 MHz If this parameter is out-of-range, this message will be treated as a query message STM Compatibles $PSTMiMCS Examples Example 1 Setting the receiver MCU clock speed to 64MHz 2 <CS><CR><LF> 0x40 40???? 02 <CS> 0D 2 <CS><CR><LF> 0x40 40???? 02 <CS> 0D 0A Message ID CS?? CS?? Message Data Checksum <CS> <CS>

43 4.14. i-lotus DEBUG MESSAGE Applicability: TX Oncore Positioning and Timing Receivers Description This message is output from the receiver if or is set. Set by using to <Information> <Information> 233 characters String of information Exception Handling None STM Compatibles $PSTMiMDm Examples Example 1 Output Message from Receiver is set Set Not Info(S6) - Completed Auto Site Survey <CS><CR><LF> 0x40 40???? <CS> 0D 0A Header N.A Message ID N.A. N.A. Dm?? Message Data N.A. N.A. Info(S6) - Completed Auto Site Survey Checksum N.A. N.A. <CS> Terminator N.A. N.A. <CR><LF> 0D 0A

44 4.15. i-lotus DEBUG MESSAGE MODE Applicability: TX Oncore Positioning and Timing Receivers Description This message allows the user to the mode of debug message to output from the receiver. Set or Query the Debug Message Mode <Level> <Level> to Debug Message Mode <Level> <Level> Exception Handling <Level> -1 (0xFF) = Query the Debug Message Level 0 (0x00) = No Debug Message 1 (0x01) = Only M12 Family Debug Messages 2 (0x02) = All Debug Messages 0 (0x00) = No Debug Message 1 (0x01) = Only M12 Family Debug Messages 2 (0x02) = All Debug Messages If this parameter is out-of-range, this message will be treated as a query message STM Compatibles $PSTMiMDM Examples Example 1 Setting the Debug Message Level to 2 2 <CS><CR><LF> 0x40 40???? 02 <CS> 0D 2 <CS><CR><LF> 0x40 40???? 02 <CS> 0D 0A Message ID DM?? DM?? Message Data Checksum <CS> <CS>