Rikaline 24A User Manual page 15

GPS Receiver Board
Appendix C
For all $PNMRX messages, it is possible to configure an alternative string to replace the NMRX part,
the node always responds to the $PNMRX strings and can be configured to generate and respond to
the alternative string.
C.1 $PNMRX100, Set serial port mode
This message is sent to control the serial communications port parameters. The $PNMRX100
message format is shown below.
Field Format
Message ID $PNMRX100
Protocol Char
Baud Int
Parity Char
Checksum *xx
Message terminator <CR> <LF>
Examples:
$PNMRX100,0,4800,0*xx: sets the UART baud rate to 4800 bps and no parity.
C.2 $PNMRX101, Navigation Initialization
This message is sent to initialize navigation parameters to speed up initial acquisition time. The
$PNMRX101 message format is shown below.
Field Format
Message ID $PNMRX101
ECEF_X Int
ECEF_Y Int
ECEF_Z Int
Clock offset Int
Time of week Int
Week number Int
Channel count Int
Checksum *xx
Message <CR> <LF>
terminator
Note: 1// If used, all three X,Y, and Z components of the ECEF position must be provided, otherwise the
message is declared invalid as a whole
2// Modifying the ECEF coordinates triggers a software system reset after successful execution of the
message
Examples:
$PNMRX101,,,,,,,,8,*xx:
$PNMRX101,-742507,-5462738, 3196706,*xx: Sets the receiver position to ECEF (,) and executes a
$PNMRX101, 4,*xx:
Rikaline International Corp.
Tel: ++886 2 2370 4688 Fax: ++886 2 2370 4686 E-Mail:
GPS-24 / 24A Operating Manual
Developer's Setting
Min chars
6
1
4
1
(0) 3
2
Min Max
chars chars
6 8
(-)7 (-)7
(-)7 (-)7
(-)7 (-)7
(0) 1 6
1 6
1 4
1 2
(0) 3 3
2 2
software reset
Sets the fix procedure mode the cold start. This will be
valid after each reset, until this value is changed.
10F, 64, Kang-Din Road, Taipei 108, Taiwan
Max Notes
chars
6 PNMRX100 protocol header.
1 0 NMEA mode
1 NemeriX Binary Mode (under dev)
6 1200 / 2400 / 4800 / 9600 / 19200 / 38400 /
57600.
1 0. None.
1. Odd.
2. Even.
3 2 digits.
2 ASCII 13, ASCII 10.
PNMRX101 protocol header.
Signed ECEF x co-ordinate in meters
Signed ECEF y co-ordinate in meters
Signed ECEF z co-ordinate in meters
Clock offset of GPS receiver, in [Hz x 100] wrt L1.
This changes the clock bias stored in the settings
not the actual clock bias used by the system. A cold
start is necessary, in order to use this value.
Offset from start of week in seconds
GPS week number
Maximum number of TM to be used. Min 12, max 16.
2 digits.
ASCII 13, ASCII 10.
Executes a factory reset
Specifications subject to change without prior notice
info@rikaline.com.tw
Rikaline
Notes
Web: www.rikaline.com.tw
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