Motorola M12 Oncore User Manual

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M12
User' s Guide
Supplement

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   Summary of Contents for Motorola M12 Oncore

  • Page 1

    User’ s Guide Supplement...

  • Page 2

    User’ s Guide Supplement Product Specifications Basic Description Mechanical Environmental Electrical RF Characteristics of Receiver RF Requirements for Antenna Performance Features 10. Serial I/O Messages 11. Receiver/Controller Command Descriptions Motorola GPS Products M12 Oncore User’ s Guide Supplement Revision 1.0 01/25/00...

  • Page 3

    • > 18,000 m (60,000 ft.) for velocities < 515m/s (1000 knots) Miscellaneous Standard Features • Motorola DGPS corrections at 9600 baud on COM port one • RTCM SC-104 input Type 1 and Type 9 messages for DGPS at 2400, 4800 or 9600 baud on COM port two •...

  • Page 4: Basic Description

    IF frequency and digitally processed to obtain a full navigation solution of position, velocity, time and heading. The solution is then sent over the serial link via the 10-pin connector. Motorola GPS Products M12 Oncore User’ s Guide Supplement Revision 1.0 01/25/00...

  • Page 5

    3. Mechanical 3.1 Mechanical Drawings 3.1.1 M12 Oncore with right angle power/data connector 3.1.2 M12 Oncore with straight power/data connector Motorola GPS Products M12 Oncore User’ s Guide Supplement Revision 1.0 01/25/00...

  • Page 6

    Externally applied backup power (1.8 to 3.2 V) Reserved Not currently used RTCM IN RTCM input only ANTENNA VOLTAGE 3 V or 5 V antenna input voltage Reserved Not currently used Motorola GPS Products M12 Oncore User’ s Guide Supplement Revision 1.0 01/25/00...

  • Page 7

    0 V to 3 V, active low Baud rate 9600 (Motorola Binary) 4800 (NMEA) Parity None Data bits Start/stop bits RF Characteristics of Receiver Dynamic range 27 dB Saturation -110 dBm Motorola GPS Products M12 Oncore User’ s Guide Supplement Revision 1.0 01/25/00...

  • Page 8

    2.8 V to 3.2 V, or 4.75 V to 5.25 V 3.0 V typical, or 5.0 V typical Current 15 mA typical 25 mA maximum 7.12 Temperature Operating -40°C to +85°C Storage -40°C to +100°C Motorola GPS Products M12 Oncore User’ s Guide Supplement Revision 1.0 01/25/00...

  • Page 9

    Complies with Class B, Part 15 of FCC rules Conducted Complies with European CE requirements Tested to IEC 801-4 spec for fast transients at 500 V, 5/50 ns, 5 kHz Motorola GPS Products M12 Oncore User’ s Guide Supplement Revision 1.0 01/25/00...

  • Page 10

    > 80 mA Real time clock The real-time clock (RTC) is a standard feature on the M12 Oncore. It is used to minimize the time to first fix (TTFF). The date and time will be retained in the RTC if battery backup power is applied when main power is off.

  • Page 11

    10.5 RTCM Commands The M12 Oncore accepts RTCM SC-104 Type 1 and Type 9 messages. The messages are input on the second communications port (pin 8) at a user selectable baud rate of 2400, 4800 or 9600. The RTCM messages are buffered and processed independently from the primary communications port.

  • Page 12

    The Motorola binary commands are supported on the primary communications port at 9600 baud. The commands supported by the M12 Oncore are listed in the table below, and detailed command descriptions are provided in alphabetical order by binary command on subsequent pages.

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  • Page 14

    This parameter allows the user to control the elevation angle that was used for this decision. Range: 0 to 89 degrees Default value: 0 degrees Motorola GPS Products M12 Oncore User’ s Guide Supplement Revision 1.0 01/25/00...

  • Page 15

    • Change current mask angle: @@AgdC<CR><LF> degrees 0 .. 89 checksum Message length: 8 bytes Response Message • To either command: @@AgdC<CR><LF> degrees 0 .. 89 checksum Message length: 8 bytes Motorola GPS Products M12 Oncore User’ s Guide Supplement Revision 1.0 01/25/00...

  • Page 16

    Alert-Planning output. The user may notice a delay between issuing this command and the actual removal or inclusion of particular satellites. Default value: All satellite SVIDs included. Motorola GPS Products M12 Oncore User’ s Guide Supplement Revision 1.0 01/25/00...

  • Page 17: Response Message

    32 bit binary field. Each bit represents one SVID. (msb = SVID 32, lsb = SVID 1) 1 = Ignore 0 = Include checksum Message Length: 12 bytes Motorola GPS Products M12 Oncore User’ s Guide Supplement Revision 1.0 01/25/00...

  • Page 18

    The user can instruct the GPS receiver to use the user defined datum by sending the Select Datum command set to 50. Default datum: WGS-84 (ID code 49) Motorola GPS Products M12 Oncore User’ s Guide Supplement Revision 1.0 01/25/00...

  • Page 19

    -32,768 .. 32,767 (-3276.8 .. 3276.7) delta Y (0.1 m) -32,768 .. 32,767 (-3276.8 .. 3276.7) delta Z (0.1 m) -32,768 .. 32,767 (-3276.8 .. 3276.7) checksum Message length: 25 bytes Motorola GPS Products M12 Oncore User’ s Guide Supplement Revision 1.0 01/25/00...

  • Page 20

    A datum is defined by a semi-major axis, an inverse flattening constant, and an offset from the center of mass of the earth given as delta-X, delta-Y, and delta-Z parameters. Default values: WGS-84 parameters Motorola GPS Products M12 Oncore User’ s Guide Supplement Revision 1.0 01/25/00...

  • Page 21

    -32,768 .. 32,767 (-3276.8 .. 3276.7) delta Y (0.1 m) -32,768 .. 32,767 (-3276.8 .. 3276.7) delta Z (0.1 m) -32,768 .. 32,767 (-3276.8 .. 3276.7) checksum Message length: 25 bytes Motorola GPS Products M12 Oncore User’ s Guide Supplement Revision 1.0 01/25/00...

  • Page 22

    For some applications, such as differential systems, the atmospheric models should be disabled since the differential corrections include the atmospheric errors. Default modes: Ionospheric model enabled Tropospheric model disabled Motorola GPS Products M12 Oncore User’ s Guide Supplement Revision 1.0 01/25/00...

  • Page 23

    0 = both models disabled 1 = ionospheric model only enabled 2 = tropospheric model only enabled 3 = both models enabled checksum Message length: 8 bytes Motorola GPS Products M12 Oncore User’ s Guide Supplement Revision 1.0 01/25/00...

  • Page 24

    Combined Position Message (@@Ga). Default values: Latitude = 0° (Equator) Longitude = 0° (Grenwich Meridian) Height = 0 m (GPS Height) Motorola GPS Products M12 Oncore User’ s Guide Supplement Revision 1.0 01/25/00...

  • Page 25

    -100,000 .. 1,800,000 (-1,000.00 .. 18,000.00 m) height type 0 = GPS height checksum Message length: 20 bytes NOTE: Position-Hold Position is enabled and disabled using the Position Control command (@@Gd). Motorola GPS Products M12 Oncore User’ s Guide Supplement Revision 1.0 01/25/00...

  • Page 26

    The Altitude-Hold Height is specified in units of meters to a resolution of 0.01 meters. The height is referenced to the GPS reference ellipsoid. The datum for the height is the one selected using the Select Datum command. Default value: Motorola GPS Products M12 Oncore User’ s Guide Supplement Revision 1.0 01/25/00...

  • Page 27

    -100,000 .. 1,800,000 (-1000.00 to + 18,000.00 m) height type 0 = GPS height checksum Message length: 12 bytes Note: Altitude-Hold Height is enable and disabled using the Position Control command (@@Gd). Motorola GPS Products M12 Oncore User’ s Guide Supplement Revision 1.0 01/25/00...

  • Page 28: Time Mode

    GPS time and a flag denoting the lack of UTC parameters will be set in the Position/Status/Data message (@@Ha). The receiver will have the UTC parameters once an almanac has been downloaded from the satellites. Default mode: Motorola GPS Products M12 Oncore User’ s Guide Supplement Revision 1.0 01/25/00...

  • Page 29

    0 = GPS 1 = UTC checksum Message length: 8 bytes Response Message • To either command: @@AwmC<CR><LF> mode 0 = GPS 1 = UTC checksum Message length: 8 bytes Motorola GPS Products M12 Oncore User’ s Guide Supplement Revision 1.0 01/25/00...

  • Page 30

    This parameter also allows the user to adjust the position of the 1PPS to compensate for other system delays. Range: 0.000 to 0.000999999 s Default value: 0.000 s Resolution: 1 ns Motorola GPS Products M12 Oncore User’ s Guide Supplement Revision 1.0 01/25/00...

  • Page 31

    Message length: 11 bytes Response Message • To either command: @@AzttttC<CR><LF> tttt time offset in ns 0 .. 999,999 ns (0.0 to 0.000999999 s) checksum Message length: 11 bytes Motorola GPS Products M12 Oncore User’ s Guide Supplement Revision 1.0 01/25/00...

  • Page 32: Position Lock Parameters

    The parameters will be remembered through power cycles if battery back-up is provided. Default values: Speed threshold = 0.5 m/s Distance threshold = 100 m Motorola GPS Products M12 Oncore User’ s Guide Supplement Revision 1.0 01/25/00...

  • Page 33

    • To either command: @@AMifddC<CR><LF> integer part of speed threshold 0…255 m/s fractional part of speed threshold 0…99 cm/s distance threshold 0…65535 m checksum Message Length: 11 bytes Motorola GPS Products M12 Oncore User’ s Guide Supplement Revision 1.0 01/25/00...

  • Page 34

    An alpha value this low must be used with caution; the reported velocity will have extreme latency. An alpha value of 100 will result in no filtering, which is the default alpha value. Default value: Motorola GPS Products M12 Oncore User’ s Guide Supplement Revision 1.0 01/25/00...

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    10 .. 100 (max. filtering to no filtering) checksum Message length: 8 bytes Response Message • To either command: @@ANfC<CR><LF> filter parameter 10 .. 100 (max. filtering to no filtering) checksum Message length: 8 bytes Motorola GPS Products M12 Oncore User’ s Guide Supplement Revision 1.0 01/25/00...

  • Page 36

    (pin 8). The allowable baud rates are 2400, 4800 and 9600. The baud rate of this secondary port is independent of the status of the primary serial port. Default mode: 9600 baud Motorola GPS Products M12 Oncore User’ s Guide Supplement Revision 1.0 01/25/00...

  • Page 37

    Message length: 8 bytes Response Message • To either command: @@AObC<CR><LF> RTCM port baud rate 0 = 9600 1 = 4800 2 = 2400 checksum Message length: 8 bytes Motorola GPS Products M12 Oncore User’ s Guide Supplement Revision 1.0 01/25/00...

  • Page 38

    This message enables or disables the position filter. The default value will be filter enabled. The selection will be remembered through power cycles if battery back-up is provided. Default mode: Enabled Motorola GPS Products M12 Oncore User’ s Guide Supplement Revision 1.0 01/25/00...

  • Page 39

    0 = Disabled 1 = Enabled checksum Message Length: 8 bytes Response Message • To either command: @@AQsC<CR><LF> selection 0 = Disabled 1 = Enabled checksum Message Length: 8 bytes Motorola GPS Products M12 Oncore User’ s Guide Supplement Revision 1.0 01/25/00...

  • Page 40

    This message enables or disables the position lock feature. The default value will be disabled. The selection will be remembered through power cycles if battery back-up is provided. Default mode: Disabled Motorola GPS Products M12 Oncore User’ s Guide Supplement Revision 1.0 01/25/00...

  • Page 41

    0 = Disabled 1 = Enabled checksum Message Length: 8 bytes Response Message • To either command: @@ASeC<CR><LF> selection 0 = Disabled 1 = Enabled checksum Message Length: 8 bytes Motorola GPS Products M12 Oncore User’ s Guide Supplement Revision 1.0 01/25/00...

  • Page 42

    GPS receiver’ s actual position when initially turned on, since the GPS receiver may have moved a great distance since it was last used. Default mode: Polled Motorola GPS Products M12 Oncore User’ s Guide Supplement Revision 1.0 01/25/00...

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    0 = healthy and not removed 1 = healthy and removed 2 = unhealthy and not removed 3 = unhealthy and removed checksum Message length: 92 bytes Motorola GPS Products M12 Oncore User’ s Guide Supplement Revision 1.0 01/25/00...

  • Page 44

    If no almanac data is stored in RAM on power-up, the receiver will download a new almanac and then compute satellite visibility information. Almanac data is stored in memory only while main or battery back-up power is applied. Motorola GPS Products M12 Oncore User’ s Guide Supplement Revision 1.0 01/25/00...

  • Page 45

    32 bit binary field, 1 = SV included each bit represents one SVID (msb = SVID 32; lsb = SVID 1) rrrrrrrr reserved checksum Message Length: 23 bytes Motorola GPS Products M12 Oncore User’ s Guide Supplement Revision 1.0 01/25/00...

  • Page 46

    If the user issues this command and the GPS receiver does not contain an almanac, then the GPS receiver returns one response message with the subframe and page bytes equal to zero. Default mode: Polled Motorola GPS Products M12 Oncore User’ s Guide Supplement Revision 1.0 01/25/00...

  • Page 47

    If an almanac is present in the GPS receiver, then the receiver outputs all of the almanac pages. Otherwise, it returns one output message with all of the message bytes set to zero. Motorola GPS Products M12 Oncore User’ s Guide Supplement Revision 1.0 01/25/00...

  • Page 48

    The receiver echoes the input ephemeris data format message so the user can validate the ephemeris data with the new user supplied ephemeris upon completion of the receipt of a valid ephemeris. Motorola GPS Products M12 Oncore User’ s Guide Supplement Revision 1.0 01/25/00...

  • Page 49

    @@Ccixxx...xxxC<CR><LF> SVID 1 .. 37 xxx ... xxx ephemeris sf 1 – 3/words 3 – 10 (72 bytes per sat; format per ICD-GPS-200) checksum Message length: 80 bytes Motorola GPS Products M12 Oncore User’ s Guide Supplement Revision 1.0 01/25/00...

  • Page 50

    Consequently, the user should be aware that the 34 total messages (of 33 bytes each) that make up the almanac data will take longer than one second to input into the receiver. Motorola GPS Products M12 Oncore User’ s Guide Supplement Revision 1.0 01/25/00...

  • Page 51

    • To above command: @@ChspC<CR><LF> subframe/page subframe 5 / pages 1 – 25, or subframe 4 / pages 2 – 5, 7 – 10, 25 checksum Message length: 9 bytes Motorola GPS Products M12 Oncore User’ s Guide Supplement Revision 1.0 01/25/00...

  • Page 52: Utc Offset Status

    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. Default mode: Polled Motorola GPS Products M12 Oncore User’ s Guide Supplement Revision 1.0 01/25/00...

  • Page 53

    1 = output UTC offset every time it is updated checksum Message length: 8 bytes Response Message • To above command: @@BouC<CR><LF> UTC offset in seconds -128 ..+127 checksum Message length: 8 bytes Motorola GPS Products M12 Oncore User’ s Guide Supplement Revision 1.0 01/25/00...

  • Page 54

    UTC/IONOSPHERIC DATA OUTPUT This message allows the user to request UTC and ionospheric data decoded from the Navigation Data Message. Default mode: Polled Motorola GPS Products M12 Oncore User’ s Guide Supplement Revision 1.0 01/25/00...

  • Page 55

    UTC Data (see ICD-GPS-200, Table 20-IX for scale factors) AAAA A -2,147,483,648…+2,147,483,647 seconds aaaa -8,388,608…+8,388,607 seconds/second -128…+127 seconds 0…602,112 seconds 0…255 weeks WN LSF 0…255 weeks 1…7 days -128…+127 seconds checksum Message Length: 29 bytes Motorola GPS Products M12 Oncore User’ s Guide Supplement Revision 1.0 01/25/00...

  • Page 56

    ID with the corresponding satellite (channel) that the slave is tracking. The user can specify up to 12 satellite corrections through the use of two back-to-back input commands. Back-to-back commands must be input with no time delay in between. Motorola GPS Products M12 Oncore User’ s Guide Supplement Revision 1.0 01/25/00...

  • Page 57

    0.001 m/s resolution (-4.096 .. 4.096) issue of data ephemeris 0 .. 255 checksum Message length: 52 bytes Response Message • To above command: @@CkC<CR><LF> checksum Message length: 7 bytes Motorola GPS Products M12 Oncore User’ s Guide Supplement Revision 1.0 01/25/00...

  • Page 58

    Execution of this command results in all continuous messages being reset to polled only output and clears the almanac and ephemeris data. The time and date stored in the internal real-time clock will be reset to their default values. Motorola GPS Products M12 Oncore User’ s Guide Supplement Revision 1.0 01/25/00...

  • Page 59

    Motorola Binary Format • Set the Oncore GPS receiver to default values: @@CfC<CR><LF> checksum Message length: 7 bytes Response Message • To above command: @@CfC<CR><LF> checksum Message length: 7 bytes Motorola GPS Products M12 Oncore User’ s Guide Supplement Revision 1.0 01/25/00...

  • Page 60

    SWITCH TO NMEA This command switches the serial data format on the primary port from Motorola binary to NMEA 0183. The baud rate of the port is switched from 9600 to 4800 and input commands are recognized in NMEA format only. Note that the default mode of all of the NMEA output messages is off.

  • Page 61

    Message length: 8 bytes Response Message • There is no response message to this input command. NOTE: The Motorola DOS controller software does not support NMEA messages. Motorola GPS Products M12 Oncore User’ s Guide Supplement Revision 1.0 01/25/00...

  • Page 62

    The GPS receiver outputs an ID message upon request. The information contained in the ID string is self-explanatory. The model number can be used to determine the type of receiver installed. Motorola GPS Products M12 Oncore User’ s Guide Supplement Revision 1.0 01/25/00...

  • Page 63

    1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 – (cr) (lf) (cr) (lf) (cr) (lf) (cr) (lf) (cr) (lf) (cr) (lf) (cr) (lf) (cr) (lf) (cr) (lf) (cr) (lf) (cr) (lf) Motorola GPS Products M12 Oncore User’ s Guide Supplement Revision 1.0 01/25/00...

  • Page 64

    As well as being the response to the @@Bp message, this message allows the user to input UTC and ionospheric data into the receiver which is then echoed in the response. Motorola GPS Products M12 Oncore User’ s Guide Supplement Revision 1.0 01/25/00...

  • Page 65

    UTC Data (see ICD-GPS-200, Table 20-IX for scale factors) AAAA -2,147,483,648…+2,147,483,647 seconds aaaa -8,388,608…+8,388,607 seconds/second -128…+127 seconds 0…602,112 seconds 0…255 weeks 0…255 weeks 1…7 days -128…+127 seconds checksum Message Length: 29 bytes Motorola GPS Products M12 Oncore User’ s Guide Supplement Revision 1.0 01/25/00...

  • Page 66

    The ASCII message may be a more convenient interface for certain applications. The units and style of the data is similar to NMEA output. Default mode: Polled Motorola GPS Products M12 Oncore User’ s Guide Supplement Revision 1.0 01/25/00...

  • Page 67

    HDOP if 2D, PDOP if 3D number of satellites in use 00...37 rrrr reference station ID 0000..1023 age of differential data in s 00..60 checksum 000...255 Message length: 96 bytes Motorola GPS Products M12 Oncore User’ s Guide Supplement Revision 1.0 01/25/00...

  • Page 68: Combined Position

    This message allows the user to enter an initial position estimate. The parameters will be remembered through power cycles if battery back-up is provided. Default Values: Latitude = 0 Longitude = 0 Height = 0m (GPS Height) Default mode: Polled Motorola GPS Products M12 Oncore User’ s Guide Supplement Revision 1.0 01/25/00...

  • Page 69

    + 180 hhhh GPS height in cm -100,000 .. 1,800,000 cm (-1000 to 18000 m) height type 0 = GPS, 1 = MSL checksum Message Length: 20 bytes Motorola GPS Products M12 Oncore User’ s Guide Supplement Revision 1.0 01/25/00...

  • Page 70

    This message allows the user to enter an initial time estimate. The parameters will be remembered through power cycles if battery back-up is provided. Default Values: 12:00:00 1/1/99 GMT offset = 0:00 Motorola GPS Products M12 Oncore User’ s Guide Supplement Revision 1.0 01/25/00...

  • Page 71

    0…59 signed byte of GMT offset 00 = positive, ff = negative hour of GMT offset 0…+23 minutes of GMT offset 0…59 checksum Message Length: 17 bytes Motorola GPS Products M12 Oncore User’ s Guide Supplement Revision 1.0 01/25/00...

  • Page 72

    This message allows the user to choose how the 1PPS output in the receiver will behave. The selection will be remembered through power cycles if battery back-up is provided. Default mode: Continuous Motorola GPS Products M12 Oncore User’ s Guide Supplement Revision 1.0 01/25/00...

  • Page 73

    @@GcpC<CR><LF> 1PPS control 0 = 1PPS disabled 1 = 1PPS on continuously 2 = pulse active only when tracking at least one satellite checksum Message Length: 8 bytes Motorola GPS Products M12 Oncore User’ s Guide Supplement Revision 1.0 01/25/00...

  • Page 74: Position Control

    This message allows the user to choose in which positioning mode the receiver will operate. The selection will be remembered through power cycles if battery back-up is provided. Default mode: Disabled Motorola GPS Products M12 Oncore User’ s Guide Supplement Revision 1.0 01/25/00...

  • Page 75

    • To either input command: @@GdcC<CR><LF> control type 0 = no hold or normal positioning 1 = enable position hold 2 = enable altitude hold checksum Message Length: 8 bytes Motorola GPS Products M12 Oncore User’ s Guide Supplement Revision 1.0 01/25/00...

  • Page 76: Leap Second Status

    When a leap second is inserted, the time of day will show a value of 60 in the seconds field. When a leap second is removed, the date will roll over at 58 seconds. Motorola GPS Products M12 Oncore User’ s Guide Supplement Revision 1.0 01/25/00...

  • Page 77

    UTC offset (nanoseconds) hour of the leap second application 0...23 minute of the leap second application 0...59 second of the leap second application 0...60 checksum Message Length: 21 bytes Motorola GPS Products M12 Oncore User’ s Guide Supplement Revision 1.0 01/25/00...

  • Page 78

    0x7e) will be construed as a new ID tag. Any out of range character will also cause the ID tag to remain unchanged. The ID tag is also output in the 12-channel Position/Status/Data Message (@@Ha). status message. Default value: Receiver Serial Number Motorola GPS Products M12 Oncore User’ s Guide Supplement Revision 1.0 01/25/00...

  • Page 79

    6 characters 0x20 to 0x7e checksum Message Length: 13 bytes • To above Command: GkvvvvvvC<CR><LF> vvvvvv ASCII ID tag 6 characters 0x20 to 0x7e checksum Message Length: 13 bytes Motorola GPS Products M12 Oncore User’ s Guide Supplement Revision 1.0 01/25/00...

  • Page 80

    This message provides position and channel related data to the user at a specified update rate. The output rate will be remembered through a power cycle if battery back-up is provided. Default mode: Polled Motorola GPS Products M12 Oncore User’ s Guide Supplement Revision 1.0 01/25/00...

  • Page 81

    Speed/Heading 3D speed in cm/s 0…51400 (0.0 to 514 m/s) 2D speed in cm/s 0…51400 (0.0 to 514 m/s) 2D heading 0…3599 tenths of degrees (0.0 to 359.9 Motorola GPS Products M12 Oncore User’ s Guide Supplement Revision 1.0 01/25/00...

  • Page 82

    1536.00 <URA<=3072.00 1110 (14) 3072.00 <URA<=6144.00 1111 (15) 6144.00 <URA* *No accuracy prediction is available – unauthorized users are advised to use the SV at their own risk) Motorola GPS Products M12 Oncore User’ s Guide Supplement Revision 1.0 01/25/00...

  • Page 83

    Bit 0: Code Location 0 = EXTERNAL 1 = INTERNAL Reserved Oscillator and Clock Parameters clock bias -32768…32767 ns oooo oscillator offset 0…250000 Hz temperature -110…250 half-degrees C (-55.0…+125.0 Motorola GPS Products M12 Oncore User’ s Guide Supplement Revision 1.0 01/25/00...

  • Page 84

    ID tag 6 characters (0x20 to 0x7e) checksum Message Length: 154 bytes * Represents UTC time offset from GPS time. Offset is rounded to the nearest integer value Motorola GPS Products M12 Oncore User’ s Guide Supplement Revision 1.0 01/25/00...

  • Page 85

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  • Page 86: Short Position Message (12 Channel)

    This is a shortened position message provided to the user at a specified update rate. The selected rate will be remembered through a power cycle if battery back-up is provided. Default mode: Polled Motorola GPS Products M12 Oncore User’ s Guide Supplement Revision 1.0 01/25/00...

  • Page 87

    Speed/Heading 3D speed in cm/s 0…51400 (0.0 to 514 m/s) 2D speed in cm/s 0…51400 (0.0 to 514 m/s) 2D heading 0…3599 tenths of degrees (0.0 to 359.9 Motorola GPS Products M12 Oncore User’ s Guide Supplement Revision 1.0 01/25/00...

  • Page 88

    10 = UC 11 = NV Bit 0: Code Location 0 = EXTERNAL 1 = INTERNAL Reserved vvvvvv ID tag 6 characters (0x20 to 0x7e) checksum Message Length: 54 bytes Motorola GPS Products M12 Oncore User’ s Guide Supplement Revision 1.0 01/25/00...

  • Page 89

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  • Page 90

    Once the self-test is complete, the acquisition process starts all over as if the receiver were first powered on. The date, time, position, almanac and ephemeris information is all retained. Motorola GPS Products M12 Oncore User’ s Guide Supplement Revision 1.0 01/25/00...

  • Page 91

    Bit 3: channel 4 correlation test Bit 2: channel 3 correlation test Bit 1: channel 2 correlation test Bit 0: channel 1 correlation test checksum Message Length: 10 bytes Motorola GPS Products M12 Oncore User’ s Guide Supplement Revision 1.0 01/25/00...

  • Page 92

    ROM is, for some reason, compromised and therefore, unreliable. This feature helps to protect the integrity of the application. Motorola GPS Products M12 Oncore User’ s Guide Supplement Revision 1.0 01/25/00...

  • Page 93

    Output Command SYSTEM POWER-ON FAILURE Motorola Binary Format @@SzcC<CR><LF> constant equal to 0 checksum Message length: 8 bytes Motorola GPS Products M12 Oncore User’ s Guide Supplement Revision 1.0 01/25/00...

  • Page 94

    (t.t) and differential reference station ID (iiii) fields will be nulled. NOTE: Height reported in the GPGGA message is GPS height, and the geoidal separation field (g.g) will always be null since the M12 Oncore does not contain this information.

  • Page 95

    M = meters g.g,z geoidal separation height units M = meters age of differential data iiii differential reference 0000 . . 1023 station ID checksum Motorola GPS Products M12 Oncore User’ s Guide Supplement Revision 1.0 01/25/00...

  • Page 96

    (GPS quality indicator (q) is zero), then the time field (hhmmss.ss) will be frozen. Default mode: Disabled Motorola GPS Products M12 Oncore User’ s Guide Supplement Revision 1.0 01/25/00...

  • Page 97

    W = West hhmmss.ss UTC of position fix hours 00 ..24 minutes 00 .. 59 ss.ss seconds 00.00 .. 59.99 status A = valid V = invalid CC checksum Motorola GPS Products M12 Oncore User’ s Guide Supplement Revision 1.0 01/25/00...

  • Page 98

    (mode field (b) is two), then the PDOP field (p.p) and the VDOP field (r.r) will be nulled. Only satellite IDs used in the solution are output; the remaining satellite ID fields will be nulled. Default mode: Disabled Motorola GPS Products M12 Oncore User’ s Guide Supplement Revision 1.0 01/25/00...

  • Page 99

    SVIDs used in solution (null for unused fields) ff, gg, hh, ii, jj, kk, mm, nn, oo PDOP 1.0 .. 9.9 HDOP 1.0 .. 9.9 VDOP 1.0 .. 9.9 checksum Motorola GPS Products M12 Oncore User’ s Guide Supplement Revision 1.0 01/25/00...

  • Page 100

    SNR field (ss) — will be nulled if not needed. NOTE: The SNR field (ss) is the same as the C/No value in the Position/Status/Data Message and the Short Position Message. Default mode: Disabled Motorola GPS Products M12 Oncore User’ s Guide Supplement Revision 1.0 01/25/00...

  • Page 101

    For each visible satellite (four groups per message) satellite PRN number elevation (degrees) 0 .. 90 azimuth (degrees True) 0 .. 359 SNR (dB) 0 .. 99 checksum Motorola GPS Products M12 Oncore User’ s Guide Supplement Revision 1.0 01/25/00...

  • Page 102

    If the receiver is not computing a position fix (status field (a) is invalid), then the speed over ground (z.z) and track made good (y.y) fields will be nulled. NOTE: The magnetic variation field (d.d) will always be null since the M12 Oncore does not have this information.

  • Page 103

    UTC date of position fix 01 .. 31 month 01 .. 12 year 00 .. 99 magnetic 0.0 .. 180.0 variation (degrees) variation sense E = East W = West checksum Motorola GPS Products M12 Oncore User’ s Guide Supplement Revision 1.0 01/25/00...

  • Page 104

    If the receiver is not computing a position fix, all numeric fields (a.a, c.c, e.e, g.g) will be nulled. NOTE: The magnetic track (c.c) will always be null since the M12 Oncore does not have this information. Default mode: Disabled Motorola GPS Products M12 Oncore User’...

  • Page 105

    • To above command: $GPVTG,a.a,b,c.c,d,e.e,f,g.g,h*CC<CR><LF> track units T = degrees true track units M = degrees magnetic speed units N = knots speed units K = km/hr checksum Motorola GPS Products M12 Oncore User’ s Guide Supplement Revision 1.0 01/25/00...

  • Page 106

    Currently, there is no mechanism to set the local zone description in the NMEA I/O format, and the receiver operates as if the GMT offset is set to 00:00. Default mode: Disabled Motorola GPS Products M12 Oncore User’ s Guide Supplement Revision 1.0 01/25/00...

  • Page 107

    0 .. 59 ss.ss seconds 0 .. 59.99 1 .. 31 month 1 .. 12 yyyy year local zone hours –13 .. 13 local zone minutes 0 .. 59 checksum Motorola GPS Products M12 Oncore User’ s Guide Supplement Revision 1.0 01/25/00...

  • Page 108

    This utility command switches the serial data format on the primary port from NMEA 0183 to Motorola binary. The baud rate of the port is switched from 4800 to 9600 and input commands are recognized in Motorola binary format only.

  • Page 109

    0 = Motorola binary optional checksum Response Message • There is no response message to this input command. NOTE: The Motorola DOS controller software does not support NMEA messages. Motorola GPS Products M12 Oncore User’ s Guide Supplement Revision 1.0 01/25/00...

  • Page 110: Table Of Contents

    11.1 Receiver Command Descriptions Motorola Receiver Commands may be used to initialize, configure, control and monitor the GPS receiver while using the controller software command line interface. Each mnemonic receiver command is translated to the appropriate Motorola Binary command and sent to the receiver.

  • Page 111

    The WGS-84 datum is referenced by ID number 49. The user defined datum is referenced by ID number 50. See Also Set User Datum (udatum) Binary Equivalent @@Ao Motorola GPS Products M12 Oncore User’ s Guide Supplement Revision 1.0 01/25/00...

  • Page 112: Ionospheric/tropospheric Correction

    Example ion 0<ENTER> Notes Default mode = 1 Ionospheric model enabled Tropospheric model disabled See Also None Binary Equivalent @@Aq Motorola GPS Products M12 Oncore User’ s Guide Supplement Revision 1.0 01/25/00...

  • Page 113

    <ENTER> Notes The satellite 1PPS output signal is referenced in the Oncore receiver to UTC or GPS time based on this command. See Also None Binary Equivalent @@Aw Motorola GPS Products M12 Oncore User’ s Guide Supplement Revision 1.0 01/25/00...

  • Page 114

    Velocity Filter Function Used to control the amount of velocity filtering. filter Syntax filter ([f]) 10 .. 100 Example filter 50<ENTER> Notes None See Also None Binary Equivalent @@AN Motorola GPS Products M12 Oncore User’ s Guide Supplement Revision 1.0 01/25/00...

  • Page 115: Position Filter Enable, Position Lock Enable

    Enables or disables the position lock feature. locke Syntax locke ([ 0 | 1 ]) disabled enabled Example locke 1<ENTER> Notes None See Also None Binary Equivalent @@AS Motorola GPS Products M12 Oncore User’ s Guide Supplement Revision 1.0 01/25/00...

  • Page 116

    (polled) output status when RAM almanac changes (continuous) Example alm 1<ENTER> Notes Press F3 to view the almanac status. See Also None Binary Equivalent @@Bd Motorola GPS Products M12 Oncore User’ s Guide Supplement Revision 1.0 01/25/00...

  • Page 117

    The Oncore receiver outputs the almanac as thirty-four 33-byte messages. Running the command record alm prior to the Almanac Data Output command stores data in Motorola binary format in a file with extension “.alm”. Use the run command to input the stored almanac data to a receiver.

  • Page 118

    ([ 0 | 1]) output response once (polled) output response when either UTC or ionospheric data changes Example utcion 1 <ENTER> Notes None See Also None Binary Equivalent @@Bp Motorola GPS Products M12 Oncore User’ s Guide Supplement Revision 1.0 01/25/00...

  • Page 119

    The almanac must then be reloaded after using the default command. See Also None Binary Equivalent @@Cf Motorola GPS Products M12 Oncore User’ s Guide Supplement Revision 1.0 01/25/00...

  • Page 120

    Syntax Example id<ENTER> Notes To view the ID message, turn off (or slow down) all periodic messages. See Also None Binary Equivalent @@Cj Motorola GPS Products M12 Oncore User’ s Guide Supplement Revision 1.0 01/25/00...

  • Page 121: Ascii Position Output

    If the receiver is computing a 3D fix, the receiver ignores the change height and responds with the current height. See Also None Binary Equivalent @@Ga Motorola GPS Products M12 Oncore User’ s Guide Supplement Revision 1.0 01/25/00...

  • Page 122

    ([ 0 | 1 | 2 ]) 1PPS disabled 1PPS on continuously pulse active only when tracking at least one satellite Example ppscon 1 <ENTER> Notes None See Also None Binary Equivalent @@Gc Motorola GPS Products M12 Oncore User’ s Guide Supplement Revision 1.0 01/25/00...

  • Page 123

    0x7e0will be construed as a new ID tag. Any out of range character will cause the ID tag to remain unchanged. Example vin ++++++<ENTER> Notes None See Also Position/Status/Data Message (@@Ha) Binary Equivalent @@Gk Motorola GPS Products M12 Oncore User’ s Guide Supplement Revision 1.0 01/25/00...

  • Page 124

    Outputs a shortened position message. Syntax psd (rate) rate Output rate = polled once 1…255 = output at indicated rate Example psd 1<ENTER> Notes None See Also None Binary Equivalent @@Hb Motorola GPS Products M12 Oncore User’ s Guide Supplement Revision 1.0 01/25/00...

  • Page 125

    None Binary Equivalent @@Hq Self-Test Message Function Causes the receiver to perform a self-test. selftest12 Syntax seltest12 Example selftest12 <ENTER> Notes None See Also None Binary Equivalent @@Ia Motorola GPS Products M12 Oncore User’ s Guide Supplement Revision 1.0 01/25/00...

  • Page 126

    11.2 Controller Command Descriptions Motorola Controller Commands may be used to configure the controller software while using the command line interface. Controller Commands have no Motorola Binary equivalent. Description Binary Controller User Guide Command Command Page # Controller ID Run Command...

  • Page 127

    Syntax refpt (lat lon hgt g) Example refpt 33:27:54.207 –111:54:08.444 350.00 g <ENTER> indicates GPS height Notes None See Also None Motorola GPS Products M12 Oncore User’ s Guide Supplement Revision 1.0 01/25/00...

  • Page 128

    The bin option stores all data from the receiver in binary format. This command opens or closes the file; it does not invoke the command requesting the required data. See Also None Motorola GPS Products M12 Oncore User’ s Guide Supplement Revision 1.0 01/25/00...

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