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Novatel OEM6 Integration Manual

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OEM6 to OEM7
Integration Guide
OM-20000164 v1
February 2017

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Summary of Contents for Novatel OEM6

  • Page 1 OEM6 to OEM7 Integration Guide OM-20000164 v1 February 2017...

  • Page 2: Oem6 To Oem7 Integration Guide

    Information in this document is subject to change without notice and does not represent a com- mitment on the part of NovAtel Inc. The information contained within this manual is believed to be true and correct at the time of publication.

  • Page 3: Table Of Contents

    2.2.25 PPPRESET 2.2.26 REFERENCESTATIONTIMEOUT 2.2.27 RTKPORTMODE 2.2.28 RTKRESET 2.2.29 SAVEUSBCONFIG 2.2.30 SETINSPROFILE 2.2.31 SETINSROTATION 2.2.32 SETINSTRANSLATION 2.2.33 SETSEARCHTYPE 2.2.34 USBCONFIG 2.3 New for OEM7 – Logs 2.3.1 Replaced Logs 2.3.2 Revised Logs 2.3.3 Deleted Logs OEM6 to OEM7 Integration Guide v1...
  • Page 4 3.4 Interference 3.4.1 Interference from Co-Located LNA 3.5 Receiver Card Interface Examples 3.5.1 EVENT_IN, EVENT_OUT and PPS Signal Protection 3.5.2 Position Valid (PV) LED Driver 3.5.3 Communication Ports 3.5.4 CAN Controller Ports 3.5.5 USB Interface OEM6 to OEM7 Integration Guide v1...
  • Page 5 4.2.6 OEM729 Interface Connectors 4.3 OEM7700 Technical Specifications 4.3.1 OEM7700 Performance Specifications 4.3.2 OEM7700 Mechanical Specifications 4.3.3 OEM7700 Electrical and Environmental Specifications 4.3.4 OEM7700 Data Communication Specifications 4.3.5 OEM7700 Strobe Specifications 4.3.6 OEM7700 Interface Connector OEM6 to OEM7 Integration Guide v1...

  • Page 6: Customer Support

    If you are having a hardware problem, send a list of the troubleshooting steps taken and the res- ults. Contact Information Log a support request with NovAtel Customer Support using one of the following methods: Log a Case and Search Knowledge: OEM6 to OEM7 Integration Guide v1...
  • Page 7 Customer Support Website: www.novatel.com/support Log a Case, Search Knowledge and View Your Case History: (login access required) Web Portal: https://novatelsupport.force.com/community/login E-mail: support@novatel.com Telephone: U.S. and Canada:   1-800-NOVATEL (1-800-668-2835) International:   +1-403-295-4900 OEM6 to OEM7 Integration Guide v1...

  • Page 8: Chapter 1 New For Oem7

    Chapter 1 New for OEM7 When upgrading from an OEM6 receiver to an OEM7 receiver, there are several hardware and software differences that must be accounted for in the system design. These differences are described in the following chapters: New for OEM7 – Firmware on page 9 New for OEM7 –...

  • Page 9: Chapter 2 New For Oem7 - Firmware

    2.2 New for OEM7 – Commands The following sections describe the command changes between OEM6 and OEM7. 2.2.1 Replaced Commands The following table lists the OEM6 commands that have been obsoleted and the commands that replace them in OEM7. Table 1: Replaced Commands in OEM7...

  • Page 10: Revised Commands

    Use the new SETINSROTATION command on page 67 and SETMARK3OFFSET SETINSTRANSLATION command on page 70 SETMARK4OFFSET VEHICLEBODYROTATION Use the new SETINSROTATION command (see page 67) 2.2.2 Revised Commands Revised commands are listed in the following table. OEM6 to OEM7 Integration Guide v1...
  • Page 11 ASSIGN, ASSIGNALL, The OEM7 tracks SBAS PRNs 120-158 and 183-187. LOCKOUT, SBASCONTROL, The OEM6 tracked 120-138 and 183-187 TRACKSV, UNLOCKOUT This command now supports multiple L-Band channels. ASSIGNLBANDBEAM The Frequency field is entered only in Hz.
  • Page 12 Binary or ASCII format. POSAVE “state” field no longer optional; default ON. A value must now be entered The range for the standard deviation parameter has changed to 1 to 25 SETINITAZIMUTH degrees. OEM6 to OEM7 Integration Guide v1...

  • Page 13: Deleted Commands

    Chapter 2   New for OEM7 – Firmware 2.2.3 Deleted Commands The OEM6 commands that are not supported in OEM7 are listed in the following table. Table 3: Deleted Commands in OEM7 OEM6 OEM7 APPLYVEHICLEBODYROTATION obsolete ASSIGNLBAND obsolete ASSIGNLBAND2 obsolete DGPSEPHEMDELAY...
  • Page 14 PPPBASICCONVERGEDCRITERIA See the PPPBASICCONVERGEDCRITERIA command on page 57 Seed the PPP filter in any platform motion state PPPDYNAMICSEED See the PPPDYNAMICSEED command on page 58 Resets the PPP filter. PPPRESET See the PPPRESET command on page 60 OEM6 to OEM7 Integration Guide v1...
  • Page 15 Specifies the search type used by the receiver for signal acquisition. SETSEARCHTYPE See the SETSEARCHTYPE command on page 73 Configures the operating mode and speed of the USB port. USBCONFIG See the USBCONFIG command on page 74 OEM6 to OEM7 Integration Guide v1...

  • Page 16: Canconfig

    Port Speed below (default = 250K The CAN port must be set to OFF (using CANCONFIG <port> OFF) before the port speed can be changed. Table 5: CAN Port Speed ASCII Value Binary Value OEM6 to OEM7 Integration Guide v1...
  • Page 17 Chapter 2   New for OEM7 – Firmware ASCII Value Binary Value 100K 125K 250K 500K OEM6 to OEM7 Integration Guide v1...

  • Page 18: Ccomconfig

    CCOM1 CCOM2 CCOM3 port Name of CCOM port Enum CCOM4 CCOM5 CCOM6 The J1939 node to use. NODE1 This binds a CCOM port to node Enum the CAN NAME/address NODE2 associated with the node. OEM6 to OEM7 Integration Guide v1...
  • Page 19 00 – FF H+17 message received Broadcast messages and receive messages from all addresses. Note: This value is ignored if the protocol is NMEA2000 or ISO15765. OEM6 to OEM7 Integration Guide v1...
  • Page 20 Chapter 2   New for OEM7 – Firmware Table 6: CAN Protocol Binary ASCII Description J1939 J1939 single packet NMEA2000 NMEA2000 (single packet, multi-packet, fast packet) ISO15765 ISO 15765-2 transport protocol ISO11783 ISO 11783 transport protocol OEM6 to OEM7 Integration Guide v1...

  • Page 21: Comcontrol

    ASCII Example 3: To set a break condition on COM1: COMCONTROL COM1 TX FORCELOW A break condition remains in effect until it is cleared. To clear a break condition on AUX: COMCONTROL COM1 TX DEFAULT OEM6 to OEM7 Integration Guide v1...
  • Page 22 Enum COM4 COM5 COM signal to control. The controllable COM signals are RTS, DTR and TX. (Default = RTS) signal Enum See also Table 7: Tx, DTR and RTS Availability on the next page OEM6 to OEM7 Integration Guide v1...
  • Page 23 Table 7: Tx, DTR and RTS Availability Tx Available On DTR Available On RTS Available On OEM719 COM1, COM2 OEM729 COM1, COM2, COM3 COM1 and COM2 OEM7700 COM1, COM2, COM3, COM4, COM5 COM1 and COM2 OEM6 to OEM7 Integration Guide v1...

  • Page 24: Connectimu

    RS-422. Refer to the OEM7 Installation and Operation User Manual (OM-20000168) for information about which receiver ports support RS-422 and instructions for enabling RS-422. OEM6 to OEM7 Integration Guide v1...
  • Page 25 Epson G320 KVH-1725 KVH1725 IMU LITEF_MICROIMU Litef µIMU The IMU Type field also supports the legacy ASCII values that contain the "IMU_" prefix. For example, LN200 or IMU_LN200. Values not shown in this table are reserved. OEM6 to OEM7 Integration Guide v1...

  • Page 26: Externalpvas

    1.3152366 -3.6474718 179.5885212 0.01 0.01 0.01 0.01 0.01 0.01 0.1 0.1 0.1 C020 1 ASCII Binary Binary Binary Binary Field Field Type Description Value Value Format Bytes Offset Command header. See EXTERNALPVAS Messages for more header information. OEM6 to OEM7 Integration Guide v1...
  • Page 27 Position2 standard PosStdDev2 Float H+52 deviation in metres Position3 standard PosStdDev3 Float H+56 deviation in metres Velocity1 standard VelStdDev1 deviation in Float H+60 metres/second Velocity2 standard VelStdDev2 deviation in Float H+64 metres/second OEM6 to OEM7 Integration Guide v1...
  • Page 28 Reserved 0x00004 ZUPT Update. No fields required in the EXTERNALPVAS command for this update. 0x00008 Reserved 0x00010 Reserved External Position Update. 0x00020 This update is entered using Position1 to Position3 in the EXTERNALPVAS command. OEM6 to OEM7 Integration Guide v1...
  • Page 29 If this bit is set, the position and velocity input frame is set to local level. If cleared, the input frame is ECEF. If this bit is set, the heading update is set relative. If cleared, the heading update is absolute. OEM6 to OEM7 Integration Guide v1...

  • Page 30: Forceglol2Code

    L2 C/A code or L2 Coarse/Acquisition code DEFAULT Set to channel default The following table lists which L2 signal is tracked based on the channel configuration and the setting used for the L2type parameter. OEM6 to OEM7 Integration Guide v1...
  • Page 31 Chapter 2   New for OEM7 – Firmware Table 12: Signals Tracked – Channel Configuration and L2type Option L2type Setting Channel Configuration for L2 Signal DEFAULT L2PL2C Both Both Both OEM6 to OEM7 Integration Guide v1...

  • Page 32: Forcegpsl2Code

    L2 code type found in the base station corrections, which ensures the greatest number of satellites are used in the solution. L2 P-code or L2 Precise code L2C code or L2 Civilian code DEFAULT Set to channel default OEM6 to OEM7 Integration Guide v1...
  • Page 33 C if available, P(Y) P(Y) P(Y) otherwise C if available, P(Y) P(Y) otherwise C if available, P(Y) P(Y) P(Y) otherwise C if available, P(Y) C if available, P(Y) L2AUTO P(Y) otherwise otherwise L2PL2C Both Both Both Both OEM6 to OEM7 Integration Guide v1...

  • Page 34: Inscalibrate

    Use this option to set the INS calibration offset Offset ALIGN Enum from the IMU Body frame to ALIGN frame rotation. Use this option to set the INS calibration offset from the IMU Body frame to Vehicle frame rotation. OEM6 to OEM7 Integration Guide v1...
  • Page 35 Resets the calibration process and restores the RESET RBV offsets to previous user input values Standard Deviation Threshold (default for lever arm SDThreshold Double calibration = 0.10 m) (default for RBV calibration = 0.5 degrees) OEM6 to OEM7 Integration Guide v1...

  • Page 36: Insseed

    Messages for more Header information. Disable the INS seed DISABLE functionality Enable the INS seed ENABLE Command functionality Enum Clear the currently saved CLEAR seed value so it will not be used until re-saved OEM6 to OEM7 Integration Guide v1...
  • Page 37 Using this Validation Enum option to force the seed INJECT to be used can result in an unstable INS solution if the vehicle has moved. For advanced users only. Reserved Ulong Reserved Ulong H+12 OEM6 to OEM7 Integration Guide v1...

  • Page 38: Itbandpassconfig

    See Messages for CONFIG header more information. See Table 21: Set the frequency frequency Frequency Types band on which to Enum on page 47 apply the filter DISABLE Disable filter switch Enum ENABLE Enable filter OEM6 to OEM7 Integration Guide v1...
  • Page 39 Binary Field Field Type Description Format Value Value Bytes Offset Cut off frequency for band pass filter (MHz). (default = 0) cutofffrequency Float Refer to ITBANDPASSBANK log (see page 102) for the allowable values. OEM6 to OEM7 Integration Guide v1...

  • Page 40: Itfrontendmode

    See Table 16: Select the desired mode Mode on the next Enum mode page Table 15: Frequency Bands Binary Value ASCII Value Description DEFAULT Select the default frequency for adjustment OEM6 to OEM7 Integration Guide v1...
  • Page 41 Chapter 2   New for OEM7 – Firmware Table 16: Mode Binary Value ASCII Value Description CIC3 3rd order CIC mode High Dynamic Range (HDR) mode OEM6 to OEM7 Integration Guide v1...

  • Page 42: Itinterferencedetect

    Ulong (default = 1000) The update period is limited by the FFT size chosen. For 32k the minimum update period is 100 ms and for 64k the minimum update period is 200 ms. OEM6 to OEM7 Integration Guide v1...
  • Page 43 FFT Ulong H+16 samples samples (default = 5) Table 17: RF Path Selection Binary Value ASCII Value Description NONE Turn off detection DEFAULT Default detection mode (cycle through all active paths) OEM6 to OEM7 Integration Guide v1...

  • Page 44: Itprogfiltconfig

    Any filter can be used Programmable progid Enum and filters can be used Filter ID on the with other filters to next page create cascading filters DISABLE Disable the filter switch Enum ENABLE Enable the filter OEM6 to OEM7 Integration Guide v1...
  • Page 45 Configure the filter as a bandpass filter Turn off filter If the switch parameter is set to ENABLED while the filtermode NONE parameter is set to NONE, the system will return a parameter out of range message. OEM6 to OEM7 Integration Guide v1...

  • Page 46: Itspectralanalysis

    See Table 20: Data Sources for mode Set the view mode Enum PSD Samples on the next page See Table 21: Frequency Set the frequency band to frequency Enum Types on the view next page OEM6 to OEM7 Integration Guide v1...
  • Page 47 POSTFILTER Perform spectrum analysis on the post-filtered spectrum Table 21: Frequency Types Binary Value ASCII Value Description GPSL1 GPS L1 frequency GPSL2 GPS L2 frequency GLONASSL1 GLONASS L1 frequency GLONASSL2 GLONASS L2 frequency Reserved OEM6 to OEM7 Integration Guide v1...
  • Page 48 1K FFT, 1024 samples 2K FFT, 2048 samples 4K FFT, 4096 samples 8K FFT, 8192 samples 16K FFT, 16384 samples 32K FFT, 32768 samples 64K FFT, 65536 samples Must first enable L-Band using the ASSIGNLBANDBEAM command. OEM6 to OEM7 Integration Guide v1...
  • Page 49 Chapter 2   New for OEM7 – Firmware The 64k FFT is not available in post-decimation or post-filter modes. OEM6 to OEM7 Integration Guide v1...

  • Page 50: J1939Config

    Identifies the J1939 Node node Enum (i.e. CAN NAME) NODE2 CAN1 port Physical CAN port to use Enum CAN2 Preferred CAN address. The receiver attempts to pref_addr 0x0 - 0xFD Ulong claim this address (default = 0x0) OEM6 to OEM7 Integration Guide v1...
  • Page 51 Due to current limitations in the CAN stack, NODE1 can only be associated with CAN1 and NODE2 can only be associated with CAN2. A mismatch combination results in an 'invalid parameter' error. Node statistics are reported in the J1939STATUS log (see page 112). OEM6 to OEM7 Integration Guide v1...

  • Page 52: Nmeaformat

    The following settings decrease the precision of the GPGGALONG latitude and longitude fields: NMEAFORMAT GGALONG_LATITUDE 11.6 NMEAFORMAT GGALONG_LONGITUDE 12.6 The following setting stops the undulation fields of the GPGGALONG log being filled, making a log like the GPGGARTK log that was in NovAtel's OEM6 firmware: NMEAFORMAT GGALONG_UNDULATION !0 Field Binary...
  • Page 53 GGA_ GPGGA altitude (height) ALTITUDE field GGA_ GPGGA undulation field UNDULATION Field Enum GGALONG_ GPGGALONG latitude LATITUDE field GGALONG_ GPGGALONG longitude LONGITUDE field GGALONG_ GPGGALONG altitude ALTITUDE (height) field GGALONG_ GPGGALONG undulation UNDULATION field OEM6 to OEM7 Integration Guide v1...
  • Page 54 If ! is used, y must be less than x. Examples (GGA_ LATITUDE): .5 = 5106.98120 2.3 = 5106.981 7.1 = 05107.0 !7.2 = 5106.98 !7.3 = 999.999 OEM6 to OEM7 Integration Guide v1...

  • Page 55: Nvmuserdata

    NVMUSERDATA Command header. See header Messages for more information. Number of Number of bytes of data to Ulong Bytes follow User input data up to a Data Array Uchar 2000 maximum of 2000 bytes OEM6 to OEM7 Integration Guide v1...

  • Page 56: Pgnconfig

    Command header. PGNCONFIG See Messages for Header more information. INSPVACMP 1889 NovAtel message message_id Ulong INSPVASDCMP 1890 PGN to use for 0 to 4294967295 Ulong message_id priority 0 - 7 CAN priority to use Uchar OEM6 to OEM7 Integration Guide v1...

  • Page 57: Pppbasicconvergedcriteria

    Offset PPPBASIC Command header. CONVERGED See Messages for CRITERIA more information. header TOTAL_ Use the total, 3D, STDDEV standard deviation Criteria Enum Use the horizontal, HORIZONTAL_ 2D, standard STDDEV deviation Tolerance Tolerance (m) Float OEM6 to OEM7 Integration Guide v1...

  • Page 58: Pppdynamicseed

    The seed position given by the PPPDYNAMICSEED command must be in a datum consistent with the PPP corrections that are in use. For NovAtel CORRECT with PPP, the datum is ITRF2008. The dynamic seed’s time must refer to receiver time and cannot be more than 15 seconds in the past.
  • Page 59 (metres) Covariance between northing_easting_ northing and easting Float H+44 covariance components (metres) Covariance between northing_height_ northing and height Float H+48 covariance components (metres) Covariance between easting_height_ easting and height Float H+52 covariance components (metres) OEM6 to OEM7 Integration Guide v1...

  • Page 60: Pppreset

    Binary Binary Field Description Type Value Value Bytes Format Offset Command header. See PPPRESET Messages for more header information. Reset the PPP filter. Option FILTER Enum This is an optional parameter. (default = FILTER) OEM6 to OEM7 Integration Guide v1...

  • Page 61: Referencestationtimeout

    Enum Must set the timeout value using the Timeout field 0 is not accepted when using the SET option timeout 1 to 3600 s Specify the time Ulong This behavior is subject to change. OEM6 to OEM7 Integration Guide v1...

  • Page 62: Rtkportmode

    RTKPORTMODE COM5 RTK RTKPORTMODE COM6 RTK RTKPORTMODE XCOM1 RTK RTKPORTMODE XCOM2 RTK RTKPORTMODE XCOM3 RTK RTKPORTMODE ICOM1 RTK RTKPORTMODE ICOM2 RTK RTKPORTMODE ICOM3 RTK RTKPORTMODE NCOM1 RTK RTKPORTMODE NCOM2 RTK RTKPORTMODE NCOM3 RTK RTKPORTMODE USB1 RTK OEM6 to OEM7 Integration Guide v1...
  • Page 63 Format Type Value Value Bytes Offset Command header. See COMMAND Messages for more header information. See Table: Port identifier Port Communications Enum (default = THISPORT) Port Identifiers Mode Mode for this port Enum ALIGN OEM6 to OEM7 Integration Guide v1...

  • Page 64: Rtkreset

    Field ASCII Binary Binary Binary Field Description Format Type Value Value Byte Offset Command header. See RTKRESET Messages for more header information. Reset the RTK filter. Switch FILTER Enum This is an optional parameter OEM6 to OEM7 Integration Guide v1...

  • Page 65: Saveusbconfig

    SAVEUSBCONFIG will take precedence over the SAVECONFIG configuration. Message ID: 1960 Abbreviated ASCII Syntax: SAVEUSBCONFIG ASCII Example: SAVEUSBCONFIG ASCII Binary Binary Binary Field Field Type Description Format Value Value Bytes Offset Command header. See SAVEUSBCONFIG Messages for more header information. OEM6 to OEM7 Integration Guide v1...

  • Page 66: Setinsprofile

    INS profile for FIXEDWING fixed wing aircraft Profile Enum INS profile for walking FOOT (backpack) applications INS profile for vertical takeoff VTOL and landing vehicles (UAVs, helicopters, etc.) INS profile for RAIL trains OEM6 to OEM7 Integration Guide v1...

  • Page 67: Setinsrotation

    X rotation offset from XRotation ±180 Float IMU origin (degrees) Y rotation offset from YRotation ±180 Float IMU origin (degrees) Z rotation offset from ZRotation ±180 Float H+12 IMU origin (degrees) OEM6 to OEM7 Integration Guide v1...
  • Page 68 MARK1 This offset rotates the attitude information in the MARK1PVA log. Rotation from the IMU body frame to the desired output for MARK2. MARK2 This offset rotates the attitude information in the MARK2PVA log. OEM6 to OEM7 Integration Guide v1...
  • Page 69 Rotation from the IMU body frame to the desired output for MARK4. MARK4 This offset rotates the attitude information in the MARK4PVA log. Rotation from the IMU body frame to the vehicle frame. Rotation from the IMU body frame to the gimbal mount body frame. OEM6 to OEM7 Integration Guide v1...

  • Page 70: Setinstranslation

    Y translation offset YTranslation ±100 Float from IMU origin (m) Z translation offset ZTranslation ±100 Float H+12 from IMU origin (m) Optional X translation offset standard XTranslationSD 0 to 10 Float H+16 deviation (m) Default: 0.0 OEM6 to OEM7 Integration Guide v1...
  • Page 71 INSPOS, INSVEL, INSATT, and INSSPD logs, along with their short header and extended versions. Translation from the IMU center of navigation to the MARK1 output location. MARK1 This offset shifts the position and velocity information in the MARK1PVA log. OEM6 to OEM7 Integration Guide v1...
  • Page 72 Vehicle frame offsets should only be used if the RBV is known accurately, either though user measurement or calibration. The order of entry for vehicle frame offsets and the RBV rotation does not matter. OEM6 to OEM7 Integration Guide v1...

  • Page 73: Setsearchtype

    SETSEARCHTYPE See Messages for header more information. GNSS Signal Type See Table: Signal signaltype Enum Currently only Type GPSL1CA is allowed. Use the normal NORMAL search method searchtype Enum Use the FFT search method OEM6 to OEM7 Integration Guide v1...

  • Page 74: Usbconfig

    Do not send a USBCONFIG command when there is activity on the USB port. Binary Binary Binary Binary Field Field Type ASCII Value Description Value Format Bytes Offset Command header. USBCONFIG See Messages for header more information. OEM6 to OEM7 Integration Guide v1...
  • Page 75 DEVICE. This parameter is optional. FULL Set the operation USBSpeed speed for the USB Enum H+12 HIGH controller. AUTO Only the USBCONFIG CONTROLLER1 DEVICE FULL and USBCONFIG CONTROLLER1 DEVICE HIGH commands are currently functional. OEM6 to OEM7 Integration Guide v1...

  • Page 76: New For Oem7 - Logs

    2.3 New for OEM7 – Logs The following sections describe the log changes between OEM6 and OEM7. 2.3.1 Replaced Logs The following table lists the OEM6 logs that have been obsoleted and the logs that replace them in OEM7. Table 26: Replaced Logs in OEM7...
  • Page 77 Additional status information has been added to the Extended Solution INSPOSX, Status word. The Extended Solution Status word is available in these INSPVAX, logs. INSUPDATESTATUS, INSVELX, See the INSATTX log on page 86 for a description of the new status RELINSPVA, values available. SYNCRELINSPVA OEM6 to OEM7 Integration Guide v1...
  • Page 78 OEM7 tracks additional GNSS signals: RANGE, RANGECMP, RANGECMP2 GPS L1C, GLONASS L3, QZSS L1C and QZSS L6 RANGE, RANGECMP, RANGECMP2, The OEM7 tracks SBAS PRNs 120-158 and 183-187. RANGECMP4, The OEM6 tracked 120-138 and 183-187 RANGEGPSL1, SATVIS2, TRACKSTAT OEM6 to OEM7 Integration Guide v1...

  • Page 79: Deleted Logs

    The computed lever arm offset is now reported in the IMU Body VARIABLELEVERARM frame, rather than the SPAN computation frame. 2.3.3 Deleted Logs The OEM6 logs that are not supported in OEM7 are listed in the following table. Table 28: Deleted Logs in OEM7 OEM6 OEM7...

  • Page 80: New Logs

    See the ITPROGFILTBANK log on page 106 Provides the processed power spectral density information ITPSDFINAL See the ITPSDFINAL log on page 109 Provides the status of the J1939 node J1939STATUS See the J1939STATUS log on page 112 OEM6 to OEM7 Integration Guide v1...
  • Page 81 RANGECMP4 See the RANGECMP4 log on page 120 Provides information on the state of RTK ASSIST RTKASSISTSTATUS See the RTKASSISTSTATUS log on page 132 Provides the Safe Mode status SAFEMODESTATUS See the SAFEMODESTATUS log on page 146 OEM6 to OEM7 Integration Guide v1...

  • Page 82: Hwmonitor

    Status Table on the next page 5... Next reading offset = H + 4 + (# measurements x 8) H+4+ 32-bit CRC (ASCII and Binary xxxx only) measurements x 8) [CR][LF] Sentence Terminator (ASCII only) OEM6 to OEM7 Integration Guide v1...
  • Page 83 1 = Value is under the lower warning limit 2 = Value is under the lower error limit 3 = Value is over the upper warning limit 4 = Value is over the upper error limit OEM6 to OEM7 Integration Guide v1...
  • Page 84 11 = Atlas Voltage OEM628 None 12 = 3V3 Imon None None 13 = GPIA OEM638 None The voltage on pin 34 of the main header on the OEM638. Not connected in the ProPak-6. (Volts) OEM6 to OEM7 Integration Guide v1...
  • Page 85 OEM638 None On card 5V supply 22 = Secondary Temperature OEM719, OEM638 OEM729, A second temperature sensor is located on the receiver PCB OEM7700 (degrees Celsius) OEM719, 23 = Peripheral Core Voltage OEM729, OEM7700 OEM6 to OEM7 Integration Guide v1...

  • Page 86: Insattx

    Azimuth in Local Level (degrees) Azimuth Double H+24 This is the inertial azimuth calculated from the IMU gyros and the SPAN filters. Roll σ Roll standard deviation (degrees) Float H+32 Pitch σ Pitch standard deviation (degrees) Float H+36 OEM6 to OEM7 Integration Guide v1...
  • Page 87 1 = Used External position 0 = Unused 0x00000020 update 1 = Used INS solution 0 = Not converged 0x00000040 convergence flag 1 = Converged 0 = Unused 0x00000080 Doppler update 1 = Used OEM6 to OEM7 Integration Guide v1...
  • Page 88 1 = Used 0x00040000 Reserved 0x00080000 Reserved 0 = Unused 0x00100000 Rover position update 1 = Used Rover position update 0 = Non-RTK update 0x00200000 type 1 = RTK integer update 0x00400000 Reserved 0x00800000 Reserved OEM6 to OEM7 Integration Guide v1...
  • Page 89 Refer to Table 33: NVM Seed Indication on the next page Table 32: Alignment Indication Bits 26-28 Values Hex Value Completed Alignment Type 0x00 Incomplete Alignment 0x01 Static 0x02 Kinematic 0x03 Dual Antenna 0x04 User Command 0x05 NVM Seed OEM6 to OEM7 Integration Guide v1...
  • Page 90 Hex Value NVM Seed Type 0x00 NVM Seed inactive 0x01 Seed stored in NVM is invalid 0x02 NVM Seed failed validation check 0x03 NVM Seed is pending validation (awaiting GNSS) 0x04 NVM Seed injected OEM6 to OEM7 Integration Guide v1...

  • Page 91: Inscalstatus

    Source Status (see Table 35: Source Status on the next Enum H+28 page). Multi-line Counter for number of completed Calibration Ulong H+32 calibrations cumulatively averaged. Count xxxx 32-bit CRC (ASCII and Binary only). H+36 OEM6 to OEM7 Integration Guide v1...
  • Page 92 Offset values originate from a currently running calibration process. SPEED Further estimation on hold due to insufficient speed. HIGH_ Offset values originate from a currently running calibration process. ROTATION Further estimation on hold due to high vehicle rotations. OEM6 to OEM7 Integration Guide v1...

  • Page 93: Insconfig

    Length of the heave window in seconds (if Ushort Window set) Profile setting (see the SETINSPROFILE Profile Enum command on page 66) Enabled Enabled update types H+12 Updates Alignment Alignment mode configured on the system Enum H+16 Mode (see the ALIGNMENTMODE command) OEM6 to OEM7 Integration Guide v1...
  • Page 94 (see the INSSEED command on page 36) Reserved 1 H+34 Reserved 2 H+36 Reserved 3 H+40 Reserved 4 H+44 Reserved 5 H+48 Reserved 6 H+52 Reserved 7 H+56 Number of Number of translation entries to follow Ulong H+60 Translations OEM6 to OEM7 Integration Guide v1...
  • Page 95 STD Dev (degrees) Rotation Source of rotation (invalid, calibrated, variable Enum variable Source from command, from NVM, etc.) Next Rotation variable xxxx 32-bit CRC (ASCII and Binary only) variable [CR][LF] Sentence terminator (ASCII only) OEM6 to OEM7 Integration Guide v1...

  • Page 96: Insstdev

    Float H+24 Pitch σ Pitch standard deviation (degrees) Float H+28 Azimuth σ Azimuth standard deviation (degrees) Float H+32 Extended solution status Ext sol stat Ulong H+36 See Table 31: Extended Solution Status on page 87 OEM6 to OEM7 Integration Guide v1...
  • Page 97 Elapsed time since the last ZUPT or Ushort H+40 Update position update (seconds) Reserved Ushort H+42 Reserved Ulong H+44 Reserved Ulong H+48 xxxx 32-bit CRC (ASCII and Binary only). H+52 [CR][LF] Sentence terminator (ASCII only). OEM6 to OEM7 Integration Guide v1...

  • Page 98: Insstdevs

    Float H+24 Pitch σ Pitch standard deviation (degrees) Float H+28 Azimuth σ Azimuth standard deviation (degrees) Float H+32 Extended solution status Ext sol stat Ulong H+36 See Table 31: Extended Solution Status on page 87 OEM6 to OEM7 Integration Guide v1...
  • Page 99 Elapsed time since the last ZUPT or Ushort H+40 Update position update (seconds) Reserved Ushort H+42 Reserved Ulong H+44 Reserved Ulong H+48 xxxx 32-bit CRC (ASCII and Binary only). H+52 [CR][LF] Sentence terminator (ASCII only). OEM6 to OEM7 Integration Guide v1...

  • Page 100: Insupdatestatus

    INS filter update. Number of raw phase observations used in NumADR Integer the last INS filter update. Number of raw doppler observations used in NumDOP Integer H+12 the last INS filter update. OEM6 to OEM7 Integration Guide v1...
  • Page 101 5 seconds (20 seconds when stationary). USED The update for that epoch was taken. HEADING_ Heading updates are running, but was not performed this epoch due to a UPDATE_ large disagreement with filter estimates. BAD_MISC OEM6 to OEM7 Integration Guide v1...

  • Page 102: Itbandpassbank

    MHz max upper The maximum frequency cutoff at Float H+20 frequency cutoff the upper end in MHz The minimum cut off frequency frequency step Float H+24 resolution in MHz OEM6 to OEM7 Integration Guide v1...
  • Page 103 Field Type Description Format Bytes Offset Next entry offset = H + 4 + (#entries x 24) H+4+ xxxx 32-bit CRC (ASCII and Binary only) Ulong (#entries x 24) [CR][LF] Sentence terminator (ASCII only) OEM6 to OEM7 Integration Guide v1...

  • Page 104: Itfilttable

    Number of records with information to follow Ulong The frequency at which the filter is applied. frequency Enum See Table 21: Frequency Types on page 47 path ID ID of the digital path used by this frequency Ulong OEM6 to OEM7 Integration Guide v1...
  • Page 105 H+4+(#entries x 20) + 4 + SUM(#progfilters x 24) 0-#entries xxxx 32-bit CRC (ASCII and Binary only) Ulong variable [CR][LF] Sentence terminator (ASCII only) Table 37: Filter Switches Binary Value ASCII Value Description DISABLE Filter disabled ENABLE Filter enabled OEM6 to OEM7 Integration Guide v1...

  • Page 106: Itprogfiltbank

    NOTCHFILTER 1237.0000 1242.9500 1249.5500 1255.5000 0.05 2.50 BANDPASSFILTER 1235.0000 1243.7500 1248.7500 1257.5000 0.05 0.00 GPSL5 5 NOTCHFILTER 1163.6250 1174.6250 1176.6250 1187.6250 0.05 0.15 NOTCHFILTER 1164.3750 1174.2250 1177.0250 1186.8750 0.05 0.50 NOTCHFILTER 1164.6750 1173.9250 1177.3250 1186.5750 0.05 1.00 OEM6 to OEM7 Integration Guide v1...
  • Page 107 NOTCHFILTER 1215.5000 1226.5000 1228.5000 1239.5000 0.05 0.15 NOTCHFILTER 1216.2500 1226.1000 1228.9000 1238.7500 0.05 0.50 NOTCHFILTER 1216.5500 1225.8000 1229.2000 1238.4500 0.05 1.00 NOTCHFILTER 1218.2500 1224.2000 1230.8000 1236.7500 0.05 2.50 BANDPASSFILTER 1216.2500 1225.0000 1230.0000 1238.7500 0.05 0.00 OEM6 to OEM7 Integration Guide v1...
  • Page 108 H+36 H+4+(#entries x 4) + 4 + (#progfilters x 28) H+4+(#entries x 4) + 4 + SUM(#progfilters x 28) 0-#entries xxxx 32-bit CRC (ASCII and Binary only) Ulong variable [CR][LF] Sentence terminator (ASCII only) OEM6 to OEM7 Integration Guide v1...

  • Page 109: Itpsdfinal

    Status word containing information about the configuration of the spectral analysis (see status word Ulong Table 38: Spectral Analysis Status Word on the next page) frequency Frequency represented by first data sample Float start in MHz OEM6 to OEM7 Integration Guide v1...
  • Page 110 See Table 20: Data Sources for PSD Samples on page 47 0x00000080 0x00000100 0 – 6 0x00000200 FFT Size See Table 22: FFT Sizes on page 48 0x00000400 0x00000800 0x00001000 0x00002000 Subcarrier Window 0 – 30 samples 0x00004000 0x00008000 OEM6 to OEM7 Integration Guide v1...
  • Page 111 Chapter 2   New for OEM7 – Firmware Nibble Mask Description Range Value 0x00010000 0x00020000 0x00040000 0x00080000 0x00100000 Time Average 0 – 100 seconds Window 0x00200000 0x00400000 0x00800000 0x01000000 0x02000000 0x04000000 0x08000000 0x10000000 Reserved 0x20000000 0x40000000 0x80000000 OEM6 to OEM7 Integration Guide v1...

  • Page 112: J1939Status

    Claimed CAN Address. address Uchar H+12 0xFE (NULL address) if the address could not be negotiated. xxxx 32-bit CRC (ASCII and Binary only) H+13 [CR][LF] Sentence Terminator (ASCII only) OEM6 to OEM7 Integration Guide v1...
  • Page 113 Address claim activity is not taking place. The node does not have J1939 DISABLED enabled. CLAIMING Address claim procedure is in progress. CLAIMED Address claimed successfully. Ready for data transfer. FAILED Address claim was not successful. No further activity is taking place. OEM6 to OEM7 Integration Guide v1...

  • Page 114: Lbandrawframe

    Log header. See Messages for header more information. Beam Name Beam Name Char[8] Service ID Service ID Ushort #bytes Number of bytes to follow Ulong H+10 data packet Raw L-Band data packet Hex[64] H+14 OEM6 to OEM7 Integration Guide v1...
  • Page 115 Chapter 2   New for OEM7 – Firmware Binary Binary Field Field type Description Format Bytes Offset H+14+ xxxx 32-bit CRC (ASCII and Binary only) Ulong #bytes [CR][LF] Sentence terminator (ASCII only) OEM6 to OEM7 Integration Guide v1...

  • Page 116: Modelfeatures

    <          20HZ MAX_MSR_RATE <          20HZ MAX_POS_RATE <          IMU_LOW_QUALITY_MEMS IMU <          INS_HEAVE INS <          AUTHORIZED MEAS_OUTPUT <          AUTHORIZED DGPS_TX <          AUTHORIZED RTK_TX <          AUTHORIZED RTK_FLOAT <          AUTHORIZED RTK_FIXED <          AUTHORIZED PPP <          AUTHORIZED LOW_END_POSITIONING <          AUTHORIZED RAIM <          AUTHORIZED ALIGN_HEADING <          AUTHORIZED ALIGN_RELATIVE_POS <          AUTHORIZED NTRIP <          UNAUTHORIZED API <          UNAUTHORIZED SCINTILLATION OEM6 to OEM7 Integration Guide v1...
  • Page 117 Maximum logging rate for POS or MSR logs is 20 Hz Reserved 100Hz Maximum logging rate for POS or MSR logs is 100 Hz RATE_INVALID Option bits don't correspond to a valid rate INS_GENERIC SPAN Licensed-Generic Interface INS_HEAVE SPAN Licensed-Heave Option OEM6 to OEM7 Integration Guide v1...
  • Page 118 Extended RAIM LOW_END_ GLIDE and TerraStar-L positioning POSITIONING ALIGN_HEADING Heading ALIGN_RELATIVE_POS Heading and Relative Positioning User Application (API) NTRIP NTRIP Server/Client TerraStar-C positioning SCINTILLATION Scintillation Inertial (SPAN) IMU Grade API functionality is currently not available. OEM6 to OEM7 Integration Guide v1...
  • Page 119 Chapter 2   New for OEM7 – Firmware Value Name Description FEATURE_OPEN_ SERVICE_PPP FEATURE_VERIPOS_ RTCM_OUTPUT FEATURE_ INTERFERENCE_ Interference Mitigation MITIGATION If a bad model is loaded, MODELFEATURES will contain one MODEL_INVALID entry: MODEL_INVALID STATUS_INVALID OEM6 to OEM7 Integration Guide v1...

  • Page 120: Rangecmp4

    4454a98ae16c14ff4fec6f7a48f3206b03e8040138fbd0023d225492cd7679a4ffa562 3b08810e42bf05fce17fa41f9a9ccfc8e2626231edf2ff208a1225ce6150204067febf ef030100000000000028000ca9cc8728bb3306e68af97f921cfce3e632f0d1cf8300c8 f701*6de99eb7 Binary Binary Field Field Type Description Format Bytes Offset RANGECMP4 Log header. See Messages for more header information. Number of bytes in the compressed binary # bytes Uchar Range Data. OEM6 to OEM7 Integration Guide v1...
  • Page 121 The byte data is received MSB first so each group of bytes (as defined by the number of needed bits) must be swapped prior to processing. H+4+ xxxx 32-bit CRC (ASCII only) bytes) [CR][LF] Sentence terminator (ASCII only) OEM6 to OEM7 Integration Guide v1...
  • Page 122 Bit 1 = GLONASS Bit 2 = SBAS GNSS Bit 5 = Galileo Bit 6 = Beidou Bit 7 = QZSS L-Band channels are not reported. Bit Sum: This block is sent once per message OEM6 to OEM7 Integration Guide v1...
  • Page 123 Signals in the satellite system) Bit Sum: 80 + mxn This block is sent once for each bit set to 1 in the GNSS field found in Table 42: Header on the previous page. OEM6 to OEM7 Integration Guide v1...
  • Page 124 4 (Non- GLONASS) Bit Sum: 9 (GLONASS) This block is sent once for each bit set to 1 in the Satellites field found in Table 43: Satellite and Signal Block on the previous page. OEM6 to OEM7 Integration Guide v1...
  • Page 125 Doppler. Bit Sum: This block is sent once for the first bit set to 1 in the Included Signals field found in Table 43: Satellite and Signal Block on page 123. OEM6 to OEM7 Integration Guide v1...
  • Page 126 Signals field found in Table 43: Satellite and Signal Block on page 123. Table 47: Primary Differential Signal Measurement Block Scale Data Name Range Description Bits Factor 0 = Parity Unknown Parity Flag 0… 1 1 = Parity Known OEM6 to OEM7 Integration Guide v1...
  • Page 127 Reference ±13.1071 for that signal from the Reference log. The Reference Doppler log and Differential logs used must contain matching Ref Data Block ID references (Table 44: Measurement Block Header on page 124). Bit Sum: OEM6 to OEM7 Integration Guide v1...
  • Page 128 (the reference doppler x time difference between Phaserange the reference log and the differential log). The Reference log and Differential logs used must contain matching Ref Data Block ID references (Table 44: Measurement Block Header on page 124). OEM6 to OEM7 Integration Guide v1...
  • Page 129 L1CA L1CA Bit 2 B1GEO Bit 3 L2CA Bit 4 ALTBOC B2GEO Bit 5 Bit 6 B3GEO Bit 7 Bit 8 Bit 9 Bit 10 Bit 11 Bit 12 Bit 13 Bit 14 Bit 15 OEM6 to OEM7 Integration Guide v1...
  • Page 130 131072 ≤ t < 262144 262144 262144 ≤ t Table 51: ADR Std Dev ADR Std Dev (cycles) ≤ 0.0039 ≤ 0.0052 ≤ 0.0070 ≤ 0.0093 ≤ 0.0124 ≤ 0.0165 ≤ 0.0221 ≤ 0.0295 OEM6 to OEM7 Integration Guide v1...
  • Page 131 Pseudorange Std Dev (m) ≤ 0.020 ≤ 0.030 ≤ 0.045 ≤ 0.066 ≤ 0.099 ≤ 0.148 ≤ 0.220 ≤ 0.329 ≤ 0.491 ≤ 0.732 ≤ 1.092 ≤ 1.629 ≤ 2.430 ≤ 3.625 ≤ 5.409 > 5.409 OEM6 to OEM7 Integration Guide v1...

  • Page 132: Rtkassiststatus

    Recommended Input: log rtkassiststatusa ontime 5 ASCII Example: #RTKASSISTSTATUSA,COM1,0,80.0,FINESTEERING,1932,491359.000,02000020,80 fe,46672;ACTIVE,ASSIST,969.0,14.0*26e32616 Binary Binary Field Field type Description Format Bytes Offset RTKASSISTSTATUS Log header. See Messages for more header information. State: State INACTIVE (0) Enum ACTIVE (1) OEM6 to OEM7 Integration Guide v1...
  • Page 133 Time remaining in seconds Float Age of the RTK ASSIST corrections in Corrections age seconds. Maximum value of 120 Float H+12 seconds. xxxx 32-bit CRC (ASCII and Binary only) H+16 [CR][LF] Sentence terminator (ASCII only) OEM6 to OEM7 Integration Guide v1...

  • Page 134: Rxstatus

    #RXSTATUS COM1 0 90.5 FINESTEERING 1740 232531.278 02000020 2AE1 44913 (Receiver Error) 00000000 4   (Receiver Status) 02000020 00000000 00000000 00000000   (Aux1 Status) 00040080 00001008 00000000 00000000   (Aux2 Status) 00000000 00000000 00000000 00000000   (Aux3 Status) 02000000 00000000 00000000 00000000   OEM6 to OEM7 Integration Guide v1...
  • Page 135 1 Status on page 141) aux1stat Auxiliary 1 status priority mask, which can be Ulong H+28 set using the STATUSCONFIG command aux1stat Auxiliary 1 status event set mask, which can be Ulong H+32 set using the STATUSCONFIG command OEM6 to OEM7 Integration Guide v1...
  • Page 136 Description Dynamic Random Access Memory (DRAM) status 0x00000001 Error RAM failure on an OEM7 card may also be indicated by a flashing red LED. 0x00000002 Invalid firmware Error 0x00000004 ROM status Error 0x00000008 Reserved OEM6 to OEM7 Integration Guide v1...
  • Page 137 0x00004000 0x00008000 NVM status Error 0x00010000 Software resource lim exceeded Error 0x00020000 Model invalid for this receiver Error 0x00040000 Reserved 0x00080000 0x00100000 Remote loading has begun 0x00200000 Export restriction Error 0x00400000 Safe Mode Error OEM6 to OEM7 Integration Guide v1...
  • Page 138 This flag is only available on certain products. Antenna shorted flag 0x00000040 Shorted This flag is only available on certain products. CPU overload flag 0x00000080 No overload Overload This flag is only available on certain products. OEM6 to OEM7 Integration Guide v1...
  • Page 139 Auxiliary 1 Status on page 141) for individual RF status 0x00010000 INS reset flag No INS reset INS reset No IMU 0x00020000 IMU communication failure No error communication 0x00040000 GPS almanac flag/UTC known Valid Invalid 0x00080000 Position solution flag Valid Invalid OEM6 to OEM7 Integration Guide v1...
  • Page 140 Event Table 55: Version Bits Bit 25 Bit 26 Description Interpret Status/Error Bits as OEM6 or earlier format Interpret Status/Error Bits as OEM7 format Reserved for a future version Reserved for a future version OEM6 to OEM7 Integration Guide v1...
  • Page 141 No overrun Overrun 0x00100000 ICOM2 buffer overrun flag No overrun Overrun 0x00200000 ICOM3 buffer overrun flag No overrun Overrun 0x00400000 NCOM1 buffer overrun flag No overrun Overrun 0x00800000 NCOM2 buffer overrun flag No overrun Overrun OEM6 to OEM7 Integration Guide v1...
  • Page 142 COM3 buffer overrun flag Buffer Overrun 0x00001000 PLL RF1 unlock flag PLL Unlock 0x00002000 PLL RF2 unlock flag PLL Unlock 0x00004000 PLL RF3 unlock flag PLL Unlock 0x00008000 PLL RF4 unlock flag PLL Unlock OEM6 to OEM7 Integration Guide v1...
  • Page 143 Reserved 0x00000008 Reserved Some bits are only active when the corresponding modules are active. For example, the BT Pairing bit will not show 1 = device not paired unless the Bluetooth module is enabled. OEM6 to OEM7 Integration Guide v1...
  • Page 144 Reserved 0x04000000 0x08000000 Some bits are only active when the corresponding modules are active. For example, the BT Pairing bit will not show 1 = device not paired unless the Bluetooth module is enabled. OEM6 to OEM7 Integration Guide v1...
  • Page 145 Not present Present Some bits are only active when the corresponding modules are active. For example, the BT Pairing bit will not show 1 = device not paired unless the Bluetooth module is enabled. OEM6 to OEM7 Integration Guide v1...

  • Page 146: Safemodestatus

    Number of resets since power up or a Reset Count Ulong successful boot String for additional information about Description String the Safe Mode State xxxx 32-bit CRC (ASCII and Binary only) Ulong H+88 [CR][LF] Sentence terminator (ASCII only) OEM6 to OEM7 Integration Guide v1...
  • Page 147 FRESET saved by SAVECONFIG command for other allowing the user to take NVM targets that corrective action. may be causing the issue and could be removed. OEM6 to OEM7 Integration Guide v1...
  • Page 148 NVM and all Auth Codes recovery steps for FAILED are ignored in this state. other states may apply. SAFE_MODE_ An error related to main Reload the main UNEXPECTED_ 0 or 1 firmware loading firmware. MAIN_FIRMWARE occurred. OEM6 to OEM7 Integration Guide v1...

  • Page 149: New For Oem7 - Span

    For information about translations and rotations, see SPAN Translations and Rotations. 2.4.1 Translational Offsets Determining the translational offsets in OEM7 is similar to the process in OEM6. Three dimen- sional distances from IMU to the other SPAN system device (e.g. GNSS antenna) are entered into the SPAN receiver.

  • Page 150: Ins Profiles

    MARKx now entered separately. SETMARKxOFFSET SETINSROTATION Markx can be MARK1, MARK2, MARK3 or MARKx MARK4. The information provided by the OEM6 VEHICLEBODYROTATION SETINSROTATION commands is now combined in the RBV SETIMUORIENTATION rotation. The information provided by the OEM6 commands is now combined in the RBM...

  • Page 151: Kvh1725 And Kvh1750 Baud Rate Conversion

    200 Hz without any impact to performance. There are two methods to change the KVH17xx series IMU baud rate. If an OEM6 receiver is available, a command is available that will allow the receiver to change the IMU baud rate. If not, a direct RS-422 connection at 921,600 baud is required to change the IMU baud rate.

  • Page 152: Ins Profiles

    (helicopter, quadcopter, etc.) RAIL Intended for railway applications Retains Default configuration To use an INS Profile, send the SETINSPROFILE command at startup (or save to NVM) to activ- ate the mode. For example: OEM6 to OEM7 Integration Guide v1...

  • Page 153: Multi-Line Body To Vehicle Frame Rotation Calibration Routine

    A minimum of two iterations are required. Additional iteration pairs can be executed for increased reliability. Figure 1: Multi-Line IMU Body to Vehicle Calibration OEM6 to OEM7 Integration Guide v1...
  • Page 154 INS solution. For information about the logs and commands used in this procedure, refer to the OEM7 Commands and Logs Reference Manual (OM-20000169). OEM6 to OEM7 Integration Guide v1...

  • Page 155: Ins Seed / Fast Ins Initialization

    Apart from injecting the seed at startup without validation, this will also remove some requirements typically asserted to allow the filter to converge. This will allow the system to run without GNSS adequately at startup. OEM6 to OEM7 Integration Guide v1...

  • Page 156: Alignment Type: Bits

    Hex Value NVM Seed Type Values 0x00 NVM Seed Inactive 0x01 Seed stored in NVM is invalid 0x02 NVM Seed failed validation check 0x03 NVM Seed is pending validation (awaiting GNSS) 0x04 NVM Seed Injected OEM6 to OEM7 Integration Guide v1...

  • Page 157: Chapter 3 New For Oem7 - Hardware

    However, all of the shields on the OEM719 are within the keep-out zone defined for the OEM615 and all of the shields on the OEM729 are within the keep-out zone defined for the OEM628. Designs that respected the keep-out zones for the OEM6 receivers will not be affected by the shields on the OEM719 and OEM729.

  • Page 158: Weight

    3.2 Electrical changes 3.2.1 COM Port Data Rate The maximum data rate for COM ports has changed. On OEM6 receivers, the maximum data rate was 921,600 bps. On OEM7 receivers, the maximum data rate is 460,800 bps. 3.2.2 Power Supply The power consumption of OEM7 receivers is dependent on receiver configuration and feature use.

  • Page 159: Input And Output Lines

    3.3 V rail than a similarly configured OEM615. The typical current draw for a NovAtel active antenna is <40 mA. For a typical antenna, this may increase the power drawn from the 3.3 V supply by as much as 70 mA (as the LNA supply is approximately 85-90% efficient).

  • Page 160: Environmental Changes

    Integration Application Note (D19021). 3.3.2 Vibration On OEM6 receivers, the random vibration specification is dependent on the receiver variant. Standard OEM6 receivers were rated to 7.7g RMS (MIL-STD_810G Method 514.6, Category 24). High vibration OEM6 receivers were rated to 20g RMS (MIL-STD_810G Method 514.6, Category 24).

  • Page 161: Interference From Co-Located Lna

    It is also strongly advised to use mounting rail for receiver cards used in this configuration. Figure 2: SMART Antenna Interference Example The previous figure shows one method of shielding the receiver. OEM6 to OEM7 Integration Guide v1...
  • Page 162 Chapter 3   New for OEM7 – Hardware The rail mounting provision on the edges of the receiver card can also used to attach entire board shielding. OEM6 to OEM7 Integration Guide v1...

  • Page 163: Receiver Card Interface Examples

    3.5.1 EVENT_IN, EVENT_OUT and PPS Signal Protection The following schematic shows appropriate signal conditioning for EVENT_IN (MKI), EVENT_OUT (VARF) and PPS (TIMEMARK) signals. OEM6 to OEM7 Integration Guide v1...
  • Page 164 This design has been used to protect EVENT_IN sig- nals from EN61000-4-5 induced surges up to 2kV on several NovAtel enclosure products. If nano- second-level timing is critical to the application, this protection circuit may be unsuitable, as it causes a timing shift of a few microseconds to the EVENT signal (heavily dependent on tem- perature).

  • Page 165: Position Valid (Pv) Led Driver

    The PV signal may be used to indicate that the receiver card has computed a valid position. Many NovAtel enclosure products use it to drive a green LED on the enclosure. It may also be used to monitor the status of the receiver with an external microcontroller.

  • Page 166: Communication Ports

    Most RS232 or RS422 transceivers will provide some ESD protection (for harsh envir- onments, additional protection may be required). COM1 on the OEM729 uses RS-232 protocol by default. This port can be changed to RS-422 protocol using the SERIALPROTOCOL command. OEM6 to OEM7 Integration Guide v1...

  • Page 167: Can Controller Ports

    These pins are multiplexed with other signals and may not be available when certain features are enabled. See P1701 Main Connector 20-Pin Header on page 190 for more information. OEM6 to OEM7 Integration Guide v1...

  • Page 168: Usb Interface

    Match the USB differential pair (D+ and D- trace lengths) to within 3mm or less. The common-mode choke and ESD protection should be placed as close as possible to the USB connector (J1). Figure 7: OEM7 USB Device Interface Example OEM6 to OEM7 Integration Guide v1...
  • Page 169 P2001 USB0_D- USB0_D+ USB1_D- USB1_D+ Table 70: USB Device Interface Example Bill of Materials Designator Manufacturer Manufacturer Part Number On Semiconductor ESD7L5.0DT5G Wurth Electronics 744230450 10104110-0001LF Figure 8: OEM7 USB Host Device Interface Example OEM6 to OEM7 Integration Guide v1...

  • Page 170: Ethernet Port

    The ferrite bead is included as an EMI de-risk contingency and may not be necessary. This pin is multiplexed with another signal and may not be available when certain features are enabled. See P1701 Main Connector 20-Pin Header on page 190 for more information. OEM6 to OEM7 Integration Guide v1...
  • Page 171 1 CT : 1 CT Open-CCT inductance (minimum) 350 μH 100 mV, 100 kHz, 8 mA Leakage inductance (maximum) 0.4 μH 1 MHz (minimum) Inter-winding capacitance (minimum) 12 pF DC resistance (maximum) 0.9 Ω OEM6 to OEM7 Integration Guide v1...
  • Page 172 0 MHz - 65 MHz HIPOT (minimum) 1500 Vrms Table 75: Bill of Materials (critical components) Designator Manufacturer Manufacturer Part Number MMZ1005B800C D1, D2 On Semiconductor ESD7L5.0DT5G Wurth Electronics 7499211121A On Semiconductor MMBT2907ALT1G Fairchild Semiconductor MMBT2907A OEM6 to OEM7 Integration Guide v1...

  • Page 173: Chapter 4 Receiver Technical Specifications

    Chapter 4 Receiver Technical Specifications The following sections detail the technical specifications of the OEM7 family receivers. OEM719 Technical Specifications on the next page OEM729 Technical Specifications on page 194 OEM7700 Technical Specifications on page 214 OEM6 to OEM7 Integration Guide v1...

  • Page 174: Oem719 Technical Specifications

    OEM719 Performance Specifications on the next page OEM719 Mechanical Specifications on page 177 OEM719 Electrical and Environmental Specifications on page 184 OEM719 Data Communication Specifications on page 186 OEM719 Strobe Specifications on page 188 OEM719 Interface Connector on page 190 OEM6 to OEM7 Integration Guide v1...

  • Page 175: Oem719 Performance Specifications

    GPS system characteristics, U.S. DOD operational degradation, ionospheric and tropospheric conditions, satellite geometry, baseline length and multipath effects. GPS-only. Requires a TerraStar subscription which is available direct from NovAtel www.novatel.com/products/novatel- correct-ppp. Performance dependent on local observing conditions.
  • Page 176 Time accuracy does not include biases due to RF or antenna delay. L2 P for GLONASS L2 C/A for GLONASS Export licensing restricts operation to a maximum of 515 metres per second, message output impacted above 500 m/s. OEM6 to OEM7 Integration Guide v1...

  • Page 177: Oem719 Mechanical Specifications

    Figure 12: OEM719A Dimensions on page 179 Figure 13: OEM719A Keep-outs on page 180 Figure 14: OEM719B Dimensions on page 181 Figure 15: OEM719B Keep-outs on page 182 Figure 16: OEM719 Mounting Surface on page 183 Figure 10: OEM719 Dimensions OEM6 to OEM7 Integration Guide v1...
  • Page 178 Chapter 4   Receiver Technical Specifications Figure 11: OEM719 Keep-outs OEM6 to OEM7 Integration Guide v1...
  • Page 179 Chapter 4   Receiver Technical Specifications Figure 12: OEM719A Dimensions OEM6 to OEM7 Integration Guide v1...
  • Page 180 Chapter 4   Receiver Technical Specifications Figure 13: OEM719A Keep-outs OEM6 to OEM7 Integration Guide v1...
  • Page 181 Chapter 4   Receiver Technical Specifications Figure 14: OEM719B Dimensions OEM6 to OEM7 Integration Guide v1...
  • Page 182 Chapter 4   Receiver Technical Specifications Figure 15: OEM719B Keep-outs OEM6 to OEM7 Integration Guide v1...
  • Page 183 The mounting surfaces are shown in gray. These mounting surfaces apply to all variants of the OEM719. These mounting surfaces are designed to work with mounting rails. Assembly tolerances must be considered when using mounting rail features. OEM6 to OEM7 Integration Guide v1...

  • Page 184: Oem719 Electrical And Environmental Specifications

    In-Rush Power 1.71 A for less than 1.5 ms (typical) Consumption Requires mechanical mounting rails to meet 20 g; meets 7.7 g without rails. OEM6 to OEM7 Integration Guide v1...
  • Page 185 LNA Power is generated from the 3.3 V supply input for the OEM719. Note: Pin 1 of P1701 is not electrically connected on the OEM719. This was the external LNA power input (LNA-PWR) on the OEM615. OEM6 to OEM7 Integration Guide v1...

  • Page 186: Oem719 Data Communication Specifications

    230400 bit/s and 460800 bit/s. COM3 is disabled by default. Event2 is enabled by default, but is multiplexed with CAN1. CAN functionality must be disabled for Event2 to work properly. OEM6 to OEM7 Integration Guide v1...
  • Page 187 Hi-speed (480 Mb/s) and Full-speed (12 Mb/s) Signals supported USB D (+), USB D (-) USB data rate defaults to Full-speed (12 Mb/s). The data rate can be changed to Hi-speed (480 Mb/s) using the USBCONFIG command. OEM6 to OEM7 Integration Guide v1...

  • Page 188: Oem719 Strobe Specifications

    VARF Active (Variable Output Note: VARF is the default behavior for pin 6 of connector Frequency) P1701. The secondary behavior for pin 6 is CAN1Rx. If CAN1 is enabled, the VARF output is disabled. OEM6 to OEM7 Integration Guide v1...
  • Page 189 Chapter 4   Receiver Technical Specifications Table 83: OEM719 Strobe Electrical Specification Current Strobe (mA) Event1 (Mark1) Event2 (Mark2) nRESET_IN VARF OEM6 to OEM7 Integration Guide v1...

  • Page 190: Oem719 Interface Connector

    This is one half of a USB differential pair (pins 3 Input/ and 4), match lengths USB_D- Analog Output and route as 90 Ω differential pair if USB is used. OEM6 to OEM7 Integration Guide v1...
  • Page 191 VARF is the VARF: default. Output VARF: Variable Frequency Output. Rising VARF/ 3.3V or falling edge active. CAN1RX CMOS CAN1RX: a CMOS-level signal, requiring an CAN1RX: external CAN Input transceiver. Internal 10 kΩ pullup. OEM6 to OEM7 Integration Guide v1...
  • Page 192 CMOS configured to output a timing signal periodically (generally 1PPS). COM1 Receive Data (UART) 3.3V RXD1 Input CMOS Internal weak (40 kΩ to 100 kΩ) pullup. Power Supply Return (Ground) OEM6 to OEM7 Integration Guide v1...
  • Page 193 CMOS GNSS-synchronized time output (commonly Pulse Per Second but can operate at other rates as well). CAN2TX is a CMOS-level 3.3V signal, requiring an CAN2TX Output CMOS external CAN transceiver. OEM6 to OEM7 Integration Guide v1...

  • Page 194: Oem729 Technical Specifications

    OEM729 Performance Specifications on the next page OEM729 Mechanical Specifications on page 197 OEM729 Electrical and Environmental Specifications on page 200 OEM729 Data Communication Specifications on page 202 OEM729 Strobe Specifications on page 204 OEM729 Interface Connectors on page 206 OEM6 to OEM7 Integration Guide v1...

  • Page 195: Oem729 Performance Specifications

    GPS system characteristics, U.S. DOD operational degradation, ionospheric and tropospheric conditions, satellite geometry, baseline length and multipath effects. GPS-only. Requires a TerraStar subscription which is available direct from NovAtel www.novatel.com/products/novatel- correct-ppp. Performance dependent on local observing conditions.
  • Page 196 Time accuracy does not include biases due to RF or antenna delay. L2 P for GLONASS. L2 C/A for GLONASS. Export licensing restricts operation to a maximum of 515 metres per second, message output impacted above 500 m/s. OEM6 to OEM7 Integration Guide v1...

  • Page 197: Oem729 Mechanical Specifications

    Chapter 4   Receiver Technical Specifications 4.2.2 OEM729 Mechanical Specifications Figure 17: OEM729 Dimensions below Figure 18: OEM729 Keep-outs on the next page Figure 19: OEM729 Mounting Surfaces on page 199 Figure 17: OEM729 Dimensions OEM6 to OEM7 Integration Guide v1...
  • Page 198 Chapter 4   Receiver Technical Specifications Figure 18: OEM729 Keep-outs OEM6 to OEM7 Integration Guide v1...
  • Page 199 Chapter 4   Receiver Technical Specifications Figure 19: OEM729 Mounting Surfaces The mounting surfaces are shown in gray. Assembly tolerances must be considered when using mounting rail features. OEM6 to OEM7 Integration Guide v1...

  • Page 200: Oem729 Electrical And Environmental Specifications

    Use them as a guide for what you might expect but not as absolute values In-Rush Power 2.0 A for less than 1.8 ms (typical) Consumption OEM6 to OEM7 Integration Guide v1...
  • Page 201 Refer to the EXTERNALCLOCK command Frequency 5 MHz or 10 MHz Input Impedance 50 Ohm nominal Input VSWR <2:1 Signal Level 0 dBm minimum to +13.0 dBm maximum Frequency Stability ±0.5 ppm maximum Wave Shape Sinusoidal OEM6 to OEM7 Integration Guide v1...

  • Page 202: Oem729 Data Communication Specifications

    230400 bit/s and 460800 bit/s. Upon power-up, COM3 is enabled by default. COM3 is multiplexed with Event 2 To enable EVENT2, issue the following commands: INTERFACEMODE COM3 NONE NONE MARKCONTROL MARK2 ENABLE OEM6 to OEM7 Integration Guide v1...
  • Page 203 Signals supported USB D (+), USB D (-) ETHERNET Physical layer 10BASE-T/100BASE-TX USB data rate defaults to Full-speed (12 Mb/s). The data rate can be changed to Hi-speed (480 Mb/s) using the USBCONFIG command. OEM6 to OEM7 Integration Guide v1...

  • Page 204: Oem729 Strobe Specifications

    Hold the RESETIN pin low for >150 ms after power is applied VARF A programmable variable frequency output ranging from Active (Variable Output 0 Hz to 50 MHz (refer to the FREQUENCYOUT Frequency) command) OEM6 to OEM7 Integration Guide v1...
  • Page 205 Chapter 4   Receiver Technical Specifications Table 92: OEM729 Strobe Electrical Specifications Current Strobe (mA) ERROR Event1 (Mark ) Event2 (Mark2) nRESET_IN VARF OEM6 to OEM7 Integration Guide v1...

  • Page 206: Oem729 Interface Connectors

    On power up, if pin 2 is set LOW or not connected, COM1 will be configured as RS-232. If pin 2 is set high then COM1 will be configured as RS-422 API functionality will not be available until the fourth quarter of 2017 OEM6 to OEM7 Integration Guide v1...
  • Page 207 A high output on this pin indicates that the 3.3V Output receiver has computed CMOS a valid GNSS position. Internal 10 kΩ pulldown. Through firmware, the COM3 UART may be configured on pins 7 and 19. OEM6 to OEM7 Integration Guide v1...
  • Page 208 Output For SPAN applications, CMOS this pin can be configured to output a timing signal periodically (generally 1PPS). COM2 Receive Data input 3.3V COM2_RX Input CMOS Internal weak (40 kΩ to 100 kΩ) pullup. OEM6 to OEM7 Integration Guide v1...
  • Page 209 This is an RTS/ optional flow control COM1_ signal for the COM1 TXD- UART (±25V tolerant). COM1_ COM1_TXD-: This is one TXD-: Output half of the COM1 RS- 422 transmit differential pair. (2V differential typical) OEM6 to OEM7 Integration Guide v1...
  • Page 210 TXD+ periodically (generally 1PPS). COM1_ TXD+: COM1_TXD+: This is Output one half of the COM1 RS-422 transmit differential pair (2V differential typical) API functionality will not be available until the fourth quarter of 2017 OEM6 to OEM7 Integration Guide v1...
  • Page 211 Direction (mA) This is one half of the ETH_ Ethernet receive Analog Input differential pair (100 Ω pair). This is one half of the ETH_ Ethernet receive Analog Input differential pair (100 Ω pair). OEM6 to OEM7 Integration Guide v1...
  • Page 212 CAN1 Receive data CMOS 3.3V CAN2TX Output CAN2 Transmit data CMOS 3.3V CAN2RX Input CAN2 Receive data CMOS USB Identification 3.3V Input/ according to USB 2.0 CMOS Output specification. Selects Host or Device mode. OEM6 to OEM7 Integration Guide v1...
  • Page 213 Chapter 4   Receiver Technical Specifications Signal Signal Signal Drive Description Name Type Direction (mA) 5V output for hosted VUSB devices Ground reference OEM6 to OEM7 Integration Guide v1...

  • Page 214: Oem7700 Technical Specifications

    OEM7700 Performance Specifications on the next page OEM7700 Mechanical Specifications on page 217 OEM7700 Electrical and Environmental Specifications on page 220 OEM7700 Data Communication Specifications on page 222 OEM7700 Strobe Specifications on page 224 OEM7700 Interface Connector on page 226 OEM6 to OEM7 Integration Guide v1...

  • Page 215: Oem7700 Performance Specifications

    GPS system characteristics, U.S. DOD operational degradation, ionospheric and tropospheric conditions, satellite geometry, baseline length and multipath effects. GPS-only. Requires a TerraStar subscription which is available direct from NovAtel www.novatel.com/products/novatel- correct-ppp. Performance dependent on local observing conditions.
  • Page 216 Time accuracy does not include biases due to RF or antenna delay. L2 P for GLONASS. L2 C/A for GLONASS. Export licensing restricts operation to a maximum of 515 metres per second, message output impacted above 500 m/s. OEM6 to OEM7 Integration Guide v1...

  • Page 217: Oem7700 Mechanical Specifications

    Chapter 4   Receiver Technical Specifications 4.3.2 OEM7700 Mechanical Specifications Figure 20: OEM7700 Dimensions below Figure 21: OEM7700 Keep-outs on the next page Figure 22: OEM7700 Mounting Surfaces on page 219 Figure 20: OEM7700 Dimensions OEM6 to OEM7 Integration Guide v1...
  • Page 218 Chapter 4   Receiver Technical Specifications Figure 21: OEM7700 Keep-outs OEM6 to OEM7 Integration Guide v1...
  • Page 219 Chapter 4   Receiver Technical Specifications Figure 22: OEM7700 Mounting Surfaces The mounting surfaces are shown in gray. These mounting surfaces are designed to work with mounting rails. Assembly tolerances must be considered when using mounting rail features. OEM6 to OEM7 Integration Guide v1...

  • Page 220: Oem7700 Electrical And Environmental Specifications

    In-Rush Power 2.0 A for less than 1.8 ms (typical) Consumption Requires mechanical mounting rails to meet 20 g; meets 7.7 g without rails. OEM6 to OEM7 Integration Guide v1...
  • Page 221 1525 to 1560 L-Band: +5.0 VDC ±5%, 0 mA to 200 mA (supplied by card through center conductor of RF connector). LNA Power LNA Power is generated from the 3.3 V supply input for the OEM7700. OEM6 to OEM7 Integration Guide v1...

  • Page 222: Oem7700 Data Communication Specifications

    Signals supported COM4_Tx, COM4_Rx Electrostatic discharge protection Data rates higher than 115200 bit/s are not supported by standard PC hardware. Special PC hardware may be required for higher rates, including 230400 bit/s and 460800 bit/s. OEM6 to OEM7 Integration Guide v1...
  • Page 223 Upon power-up, COM5 is enabled by default. COM5 is multiplexed with COM2 hardware flow control. USB data rate defaults to Full-speed (12 Mb/s). The data rate can be changed to Hi-speed (480 Mb/s) using the USBCONFIG command. OEM6 to OEM7 Integration Guide v1...

  • Page 224: Oem7700 Strobe Specifications

    Active Output calculated GNSS Time. The polarity, period and pulse width can be configured using the PPSCONTROL command Table 100: OEM7700 Strobe Electrical Specifications Current Strobe (mA) ERROR OEM6 to OEM7 Integration Guide v1...
  • Page 225 Chapter 4   Receiver Technical Specifications Current Strobe (mA) EVENT_IN1 (Mark ) EVENT_IN2 (Mark2) EVENT_IN3 (Mark3) EVENT_IN4 (Mark4) EVENT_OUT1 EVENT_OUT2 EVENT_OUT3 EVENT_OUT4 0.55 POS_VALID nRESET_IN 2.55 0.55 OEM6 to OEM7 Integration Guide v1...

  • Page 226: Oem7700 Interface Connector

    (generally 1PPS). COM1 Transmit Data (UART) For SPAN applications, COM1_ 3.3V this pin can be Output 0.55 CMOS configured to output a timing signal periodically (generally 1PPS). OEM6 to OEM7 Integration Guide v1...
  • Page 227 CMOS COM2_CTS: COM2 Clear to Send Optional hardware flow control signal for the COM2 serial port. COM1 Clear To Send COM1_ 3.3V Optional hardware flow Input CMOS control signals for the COM1 serial port. OEM6 to OEM7 Integration Guide v1...
  • Page 228 EVENT1 (Mark1) Output Rising edge triggered. Outputs a user- EVENT_ 3.3V specified timing signal. Output OUT1 CMOS Can be synchronized with PPS. Supports Variable Frequency Output function. OEM6 to OEM7 Integration Guide v1...
  • Page 229 At the time ERROR is asserted, POS_VALID signal is changed to not asserted. In the rare case of a fatal, unrecoverable error that leads to a reboot of the receiver, ME_RDY, ERROR and POS_VALID are all not asserted while the receiver restarts. OEM6 to OEM7 Integration Guide v1...
  • Page 230 Edges can be synchronized to GNSS time reference. EVENT4 (Mark4) Output Rising edge triggered. Outputs a user- EVENT_ 3.3V specified timing signal. Output OUT4 CMOS Can be synchronized with PPS. Supports Variable Frequency Output function. OEM6 to OEM7 Integration Guide v1...
  • Page 231 EVENT4 (Mark4) input Rising or falling edge triggered. This input is EVENT_ 3.3V used to provide a Input CMOS position or time data log based on an external trigger. Internal 10 kΩ pull up. OEM6 to OEM7 Integration Guide v1...
  • Page 232 This is a CMOS-level CAN0_ 3.3V Input signal, requiring an CMOS external CAN transceiver. Reserved Reserved for future use Reserved Reserved for future use Serial Peripheral SPI_ 3.3V Output Interface Master MOSI CMOS Output/Slave Input OEM6 to OEM7 Integration Guide v1...
  • Page 233 90 Ω differential pair. USB1 signal. This is one half of the USB1 differential pair. USB1_ Analog USB1_D+ and USB1_D- must be length- matched and routed as a 90 Ω differential pair. OEM6 to OEM7 Integration Guide v1...
  • Page 234 (Active Low) Resets the receiver card when low. This pin nRESET_ 3.3V Input 2.55 must be held low for a CMOS minimum of 100 microseconds to guarantee operation. Internal 10 kΩ pullup. Ground Ground reference OEM6 to OEM7 Integration Guide v1...
  • Page 235 ETH_TX- must be routed as a 100 Ω differential pair. Ethernet Receive One half of the Ethernet receive differential ETH_RX- Analog Input pair. ETH_RX+ and ETH_RX- must be routed as a 100 Ω differential pair. OEM6 to OEM7 Integration Guide v1...
  • Page 236 Signal Signal Signal Drive Description Name Type Direction (mA) Ethernet Transmit One half of the Ethernet transmit differential ETH_TX- Analog Output pair. ETH_TX+ and ETH_TX- must be routed as a 100 Ω differential pair. OEM6 to OEM7 Integration Guide v1...
  • Page 237 OEM6 to OEM7 Integration Guide v1...

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