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Lantronix PNT Series PNT-SG3FS GNSS Module Software User Guide - Page 4

Table of Contents, Introduction, Firmware Version, Receiver Description, Protocol Specification,

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Table of Contents List of Figures 14 List of Tables 15 1. Introduction 22 Overview 22 2. Firmware Version 23 Firmware Update Algorithm Protocol 24 Firmware Update Software Tool 27 Port Settings Option 28 Firmware Options 28 Upgrade Process 28 3. Receiver Description 29 GPS/Galileo/GLONASS/BeiDou Base Band (G3BB+) Processor 29 Receiver Configuration 29 Configuration Concept 29 Configuration Data Blocks (CDB 30 Firmware Configuration Commands 33 Communication Channels 34 Communication Over UART Port 34 Communication Over I2C Port 35 4. Protocol Specification 38 NMEA Protocol 38 Communication Interface 38 Commands 38 Messages 40 RTCM Protocol 42 5. Assisted GNSS 43 Autonomous AGNSS 43 Predictive AGNSS 44 PGPS Server Access 44 Password Generation 45 Predictive AGNSS Seed Transmission 45 Real-time AGNSS 45 Password Generation 46 Real-Time Assistance Data Uploading Procedure 46 6. Data Logging 47 PNT-SG3FS GNSS Module Software User Guide 4

Section	Page
List of Figures	14
List of Tables	15
1. Introduction	22
Overview	22
2. Firmware Version	23
Firmware Update Algorithm Protocol	24
Firmware Update Software Tool	27
Port Settings Option	28
Firmware Options	28
Upgrade Process	28
3. Receiver Description	29
GPS/Galileo/GLONASS/BeiDou Base Band (G3BB+) Processor	29
Receiver Configuration	29
Configuration Concept	29
Configuration Data Blocks (CDB)	30
Firmware Configuration Commands	33
Communication Channels	34
Communication Over UART Port	34
Communication Over I2C Port	35
I2C Read Access	35
I2C Write Access	35
I2C Register Description	36
4. Protocol Specification	38
NMEA Protocol	38
Communication Interface	38
Commands	38
ST NMEA Command List	38
Messages	40
Standard NMEA Messages List	40
Proprietary ST NMEA Messages List	41
RTCM Protocol	42
5. Assisted GNSS	43
Autonomous AGNSS	43
Predictive AGNSS	44
PGPS Server Access	44
The HTTP Request URL	44
Password Generation	45
Predictive AGNSS Seed Transmission	45
Real-time AGNSS	45
Password Generation	46
Real-Time Assistance Data Uploading Procedure	46
6. Data Logging	47
7. Geofencing	49
8. Odometer	50
9. Communication Interface	51
Commands	51
Messages	52
Standard NMEA Messages	52
Proprietary Messages	52
10. Low Power Modes	53
Adaptive and Cyclic Mode State Diagram	54
Periodic Mode	55
State Machine	56
Good GNSS Coverage Sequences	58
Poor GNSS Coverage Sequences	59
11. Commands	60
Software Command List	60
ST NMEA Command Specification	63
$PSTMINITGPS	63
$PSTMINITTIME	64
$PSTMINITFRQ	64
$PSTMSETRANGE	65
$PSTMCLREPHS	65
$PSTMDUMPEPHEMS	66
$PSTMEPHEM	66
$PSTMCLRALMS	72
$PSTMDUMPALMANAC	72
$PSTMALMANAC	73
$PSTMCOLD	75
$PSTMWARM	76
$PSTMHOT	76
$PSTMSRR	76
$PSTMGPSRESET	77
$PSTMGPSSUSPEND	77
$PSTMGPSRESTART	78
$PSTMGNSSINV	78
$PSTMTIMEINV	79
$PSTMGETSWVER	79
$PSTMSBASONOFF	79
$PSTMSBASSERVICE	80
$PSTMSBASSAT	81
$PSTMSBASM	81
$PSTMRFTESTON	82
$PSTMRFTESTOFF	82
$PSTMGETALGO	83
$PSTMSETALGO	83
$PSTMGETRTCTIME	84
$PSTMDATUMSELECT	84
$PSTMDATUMSETPARAM	85
$PSTMENABLEPOSITIONHOLD	85
$PSTMSETCONSTMASK	86
$PSTMNOTCH	87
$PSTMPPS	89
PPS Get PPS_IF_PULSE_DATA_CMD	89
PPS Get PPS_IF_TIMING_DATA_CMD	89
PPS Get PPS_IF_POSITION_HOLD_DATA_CMD	90
PPS Get PPS_IF_TRAIM_CMD	90
PPS Get PPS_IF_TRAIM_USED_CMD	90
PPS Get PPS_IF_TRAIM_RES_CMD	90
PPS Get PPS_IF_TRAIM_REMOVED_CMD	90
PPS Set PPS_IF_ON_OFF_CMD	90
PPS Set PPS_IF_OUT_MODE_CMD	91
PPS Set PPS_IF_REFERENCE_TIME_CMD	91
PPS Set PPS_IF_PULSE_DELAY_CMD	92
PPS Set PPS_IF_CONSTELLATION_RF_DELAY_CMD	92
PPS Set PPS_IF_PULSE_DURATION_CMD	92
PPS Set PPS_IF_PULSE_POLARITY_CMD	93
PPS Set PPS_IF_PULSE_DATA_CMD	93
PPS Set PPS_IF_FIX_CONDITION_CMD	94
PPS Set PPS_IF_SAT_TRHESHOLD_CMD	94
PPS Set PPS_IF_ELEVATION_MASK_CMD	94
PPS Set PPS_IF_CONSTELLATION_MASK_CMD	95
PPS Set PPS_IF_TIMING_DATA_CMD	95
PPS Set PPS_IF_POSITION_HOLD_DATA_CMD	96
PPS Set PPS_IF_AUTO_HOLD_SAMPLES_CMD	96
PPS Set PPS_IF_TRAIM_CMD	97
$PSTMLOWPOWERONOFF	97
$PSTMSTANDBYENABLE	99
$PSTMNMEAREQUEST	99
$PSTMFORCESTANDBY	100
$PSTMIONOPARAMS	100
$PSTMGALILEOGGTO	101
$PSTMGALILEODUMPGGTO	101
$PSTMSETTHTRK	102
$PSTMSETTHPOS	102
$PSTMGETUCODE	103
ST System Configuration Commands	104
$PSTMSETPAR	104
$PSTMGETPAR	105
$PSTMSAVEPAR	106
$PSTMRESTOREPAR	107
$PSTMCFGPORT	107
$PSTMCFGPORT on UART	108
$PSTMCFGPORT on I2C	108
$PSTMCFGMSGL	108
$PSTMCFGGNSS	109
$PSTMCFGSBAS	110
$PSTMCFGPPSGEN	111
$PSTMCFGPPSSAT	112
$PSTMCFGPPSPUL	113
$PSTMCFGPOSHOLD	113
$PSTMCFGTRAIM	114
$PSTMCFGSATCOMP	114
$PSTMCFGLPA	115
$PSTMCFGAGPS	116
$PSTMCFGAJM	116
$PSTMCFGODO	117
$PSTMCFGLOG	117
$PSTMCFGGEOFENCE	118
$PSTMCFGGEOCIR	119
$PSTMCFGCONST	120
$PSTMCFGTHGNSS	121
$PSTMCFGTDATA	121
Datalogging NMEA Commands	122
$PSTMLOGCREATE	122
$PSTMLOGSTART	122
$PSTMLOGSTOP	123
$PSTMLOGERASE	123
$PSTMLOGREQSTATUS	123
$PSTMLOGREQQUERY	124
Geofencing NMEA Commands	125
$PSTMGEOFENCECFG	125
$PSTMGEOFENCEREQ	125
Odometer NMEA Commands	126
$PSTMODOSTART	126
$PSTMODOSTOP	126
$PSTMODORESET	127
$PSTMODOREQ	127
Autonomous AGNSS NMEA Commands	128
$PSTMSTAGPSONOFF	128
$PSTMSTAGPSINVALIDATE	129
$PSTMGETAGPSSTATUS	129
$PSTMSTAGPSSETCONSTMASK	130
Predictive AGNSS NMEA Commands	131
$PSTMSTAGPSSEEDBEGIN	131
$PSTMSTAGPSBLKTYPE	131
$PSTMSTAGPSSLOTFRQ	132
$PSTMSTAGPSSEEDPKT	132
$PSTMSTAGPSSEEDPROP	133
Real-Time AGNSS NMEA Commands	134
$PSTMSTAGPS8PASSGEN	134
12. Messages	135
Standard NMEA Messages List	135
ST NMEA Messages List	135
Preliminary Notes About Satellites’ PRN Ranges	136
Standard NMEA Messages Specification	137
$--GGA	137
$--GLL	138
$--GSA	139
$--GSV	140
$--RMC	142
$--VTG	143
$--ZDA	144
$--GST	145
$--GBS	146
$--GNS	147
$--DTM	149
ST NMEA Messages Specification	151
$PSTMINITGPSOK	151
$PSTMINITGPSERROR	151
$PSTMINITTIMEOK	151
$PSTMINITTIMEERROR	152
$PSTMSETRANGEOK	152
$PSTMSETRANGEERROR	152
$PSTMSBASSERVICEOK	152
$PSTMSBASSERVICEERROR	153
$PSTMSBASMOK	153
$PSTMSBASMERROR	153
$PSTMGETALGOOK	154
$PSTMGETALGOERROR	154
$PSTMSETALGOOK	154
$PSTMSETALGOERROR	155
$PSTMGETRTCTIME	155
$PSTMDATUMSELECTOK	156
$PSTMDATUMSELECTERROR	156
$PSTMDATUMSETPARAMOK	156
$PSTMDATUMSETPARAMERROR	157
$PSTMPOSITIONHOLDENABLED	157
$PSTMPOSITIONHOLDDISABLED	157
$PSTMENABLEPOSITIONHOLDERROR	157
$PSTMSETCONSTMASKOK	158
$PSTMSETCONSTMASKERROR	158
$PSTMPPS	159
PPS Get PPS_IF_PULSE_DATA_CMD	159
PPS Get PPS_IF_TIMING_DATA_CMD	160
PPS Get PPS_IF_POSITION_HOLD_DATA_CMD	161
PPS Get PPS_IF_TRAIM_CMD	161
PPS Get PPS_IF_TRAIM_USED_CMD	162
PPS Get PPS_IF_TRAIM_RES_CMD	162
PPS Get PPS_IF_TRAIM_REMOVED_CMD	162
$PSTMPPSERROR	163
$PSTMFORCESTANDBYOK	163
$PSTMFORCESTANDBYERROR	163
$PSTMGALILEODUMPGGTO	164
$PSTMSETTHTRKOK	164
$PSTMSETTHTRKERROR	164
$PSTMSETTHPOSOK	165
$PSTMSETTHPOSERROR	165
$PSTMVER	166
$PSTMRF	167
$PSTMTESTRF	168
$PSTMTG	168
$PSTMTS	170
$PSTMPA	172
$PSTMSAT	172
$PSTMPRES	173
$PSTMVRES	173
$PSTMNOISE	174
$PSTMCPU	174
$PSTMPPSDATA	174
$PSTMPOSHOLD	176
$PSTMTRAIMSTATUS	177
$PSTMTRAIMUSED	177
$PSTMTRAIMRES	178
$PSTMTRAIMREMOVED	178
$PSTMKFCOV	179
$PSTMTIM	179
$PSTMDIFF	180
$PSTMSBAS	180
$PSTMSBASM	181
$PSTMNOTCHSTATUS	181
$PSTMLOWPOWERDATA	182
$PSTMSTANDBYENABLE	183
$PSTMSTANDBYENABLEOK	183
$PSTMSTANDBYENABLEERROR	183
$PSTMPV	184
$PSTMPVRAW	185
$PSTMPVQ	186
$PSTMUTC	186
$PSTMNAVM	187
$PSTMEPHEM	188
$PSTMALMANAC	193
$PSTMGPSSUSPENDED	195
$PSTMUSEDSATS	196
$PSTMGETUCODEOK	196
$PSTMGETUCODEERROR	197
$PSTMEPHEMOK	197
$PSTMEPHEMERROR	197
$PSTMALMANACOK	197
$PSTMALMANACERROR	198
$PSTMLOWPOWERON	198
$PSTMLOWPOWERERROR	199
ST System Configuration Messages	200
$PSTMSETPAROK	200
$PSTMSETPARERROR	200
$PSTMRESTOREPAROK	200
$PSTMRESTOREPARERROR	201
$PSTMSAVEPAROK	201
$PSTMSAVEPARERROR	201
$PSTMSETPAR	202
$PSTMGETPARERROR	202
$PSTMCFGPORTOK	202
$PSTMCFGPORTERROR	203
$PSTMCFGMSGLOK	203
$PSTMCFGMSGLERROR	203
$PSTMCFGGNSSOK	203
$PSTMCFGGNSSERROR	204
$PSTMCFGSBASOK	204
$PSTMCFGSBASERROR	204
$PSTMCFGPPSGENOK	204
$PSTMCFGPPSGENERROR	205
$PSTMCFGPPSSATOK	205
$PSTMCFGPPSSATERROR	205
$PSTMCFGPPSPULOK	205
$PSTMCFGPPSPULERROR	206
$PSTMCFGPOSHOLDOK	206
$PSTMCFGPOSHOLDERROR	206
$PSTMCFGTRAIMOK	206
$PSTMCFGTRAIMERROR	207
$PSTMCFGSATCOMPOK	207
$PSTMCFGSATCOMERROR	207
$PSTMCFGLPAOK	207
$PSTMCFGLPAERROR	208
$PSTMCFGAGPSOK	208
$PSTMCFGAGPSERROR	208
$PSTMCFGAJMOK	208
$PSTMCFGAJMERROR	209
$PSTMCFGODOOK	209
$PSTMCFGODOERROR	209
$PSTMCFGLOGOK	209
$PSTMCFGLOGERROR	210
$PSTMCFGGEOFENCEOK	210
$PSTMCFGGEOFENCEERROR	210
$PSTMCFGGEOCIROK	210
$PSTMCFGGEOCIRERROR	211
$PSTMCFGGNSSOK	211
$PSTMCFGGNSSERROR	211
$PSTMCFGCONSTOK	211
$PSTMCFGCONSTERROR	212
$PSTMCFGTHGNSSOK	212
$PSTMCFGTHGNSSERROR	212
$PSTMCFGTDATAOK	212
$PSTMCFGTDATAERROR	213
Datalogging NMEA Messages	214
$PSTMLOGCREATEOK	214
$PSTMLOGCREATEERROR	214
$PSTMLOGSTARTOK	214
$PSTMLOGSTARTERROR	215
$PSTMLOGSTOPOK	215
$PSTMLOGSTOPERROR	215
$PSTMLOGERASEOK	215
$PSTMLOGERASEERROR	216
$PSTMLOGSTATUS	216
$PSTMLOGSTATUSERROR	216
$PSTMLOGQUERY	217
$PSTMLOGQUERYERROR	218
Geofencing NMEA Messages	219
$PSTMGEOFENCECFGOK	219
$PSTMGEOFENCECFGERROR	219
$PSTMGEOFENCESTATUS	220
$PSTMGEOFENCEREQERROR	220
Odometer NMEA Messages	221
$PSTMODOSTARTOK	221
$PSTMODOSTARTERROR	221
$PSTMODOSTOPOK	221
$PSTMODOSTOPERROR	222
$PSTMODORESETOK	222
$PSTMODORESETERROR	222
$PSTMODO	223
$PSTMODOREQERROR	223
Autonomous AGNSS NMEA Messages	224
$PSTMPOLSTARTED	224
$PSTMPOLSUSPENDED	224
$PSTMPOLONOFFERROR	224
$PSTMSTAGPSINVALIDATEOK	225
$PSTMSTAGPSINVALIDATEERROR	225
$PSTMAGPSSTATUS	225
$PSTMSTAGPSSETCONSTMASKOK	226
$PSTMSTAGPSSETCONSTMASKERROR	226
$PSTMAGPS	227
$PSTMAGLO	228
Predictive AGNSS NMEA Messages	229
$PSTMSTAGPSSEEDBEGINOK	229
$PSTMSTAGPSSEEDBEGINERROR	229
$PSTMSTAGPSBLKTYPEOK	229
$PSTMSTAGPSBLKTYPEERROR	230
$PSTMSTAGPSSLOTFRQOK	230
$PSTMSTAGPSSLOTFRQERROR	230
$PSTMSTAGPSSEEDPKTOK	230
$PSTMSTAGPSSEEDPKTERROR	231
$PSTMSTAGPSSEEDPROPOK	231
Real-Time AGNSS NMEA Messages	232
$PSTMSTAGPS8PASSRTN	232
13. Firmware Configuration Data Block (CDB)	233
CDB-ID 102 – NMEA port baudrate setting	239
CDB-ID 104 – Mask angle setting	239
CDB-ID 105 – GNSS tracking threshold	239
CDB-ID 120 – Cold start setting	240
CDB-ID 121 – Number of decimal digits for speed and course data in NMEA messages	240
CDB-ID 125 – Notch filter setting	240
CDB-ID 127 – Number of decimal digits in NMEA position messages	241
CDB-ID 128 – Differential Source Type	241
CDB-ID 129 – GLONASS Satellite ID Type	241
CDB-ID 130 – CPU clock speed	242
CDB-ID 131 – NMEA Talker ID	242
CDB-ID 132 – GNSS Positioning CN0 threshold	242
CDB-ID 135 – SBAS default service	242
CDB-ID 190 - CDB-ID 201 - CDB-ID 228 - NMEA on UART message list parameters	243
CDB-ID 197 – PPS clock	245
CDB-ID 198 – GNSS Mask angle positioning	245
CDB-ID 199 – Local geodetic datum selection	245
CDB-ID 200 - CDB-ID 227 - Application ON/OFF	245
CDB-ID 202 – NCO range max value	249
CDB-ID 203 – NCO range min value	249
CDB-ID 204 – NCO centre value	249
CDB-ID 213 – PPS operating mode setting 1	250
CBD-ID 214 – PPS operating mode setting 2	251
CDB-ID 215 – Position hold auto survey samples	251
CDB-ID 218 – SBAS satellite parameter	251
CDB-ID 219 – SBAS satellite parameter	252
CDB-ID 220 – Adaptive and Cyclic operating mode setting 1	252
CDB-ID 222 – LMS operating mode setting 1	253
CDB-ID 223 – LMS operating mode setting 2	253
CDB-ID 231 – CDB-ID 232 - NMEA on I2C Port Message List	253
CDB-ID 237 – Default GPS MIN-MAX week number	253
CDB-ID 238 – Default UTC delta time	254
CDB-ID 257 – Periodic operating mode setting 1	254
CDB-ID 258 – periodic operating mode setting 2	254
CDB-ID 260 – WLS algorithm configuration	255
CDB-ID 266 – Data logger Configuration 2	255
CDB-ID 267 – Data logger Configuration 3	256
CDB-ID 268 – Geofencing Configuration 0	256
CDB-ID 270 – Odometer Configuration	257
CDB-ID 272 – GNSS integrity check configuration	257
CDB-ID 301 – PPS Pulse Duration	257
CDB-ID 302 – PPS Delay Correction	257
CDB-ID 303 – GNSS fix rate	257
CDB-ID 304 – Position Hold Latitude	258
CDB-ID 305 – Position Hold Longitude	258
CDB-ID 306 – Position Hold Altitude	258
CDB-ID 307 – GPS RF delay correction	258
CDB-ID 308 – GLONASS RF delay correction	258
CDB-ID 309 – TRAIM alarm threshold	259
CDB-ID 310 – BEIDOU RF delay correction	259
CDB-ID 311 – GALILEO RF delay correction	259
CDB-ID 314 – CDB-ID 315 – CDB-ID 316 – Geofencing Circle 0	259
CDB-ID 317 – CDB-ID 318 - CDB-ID 319 - Geofencing Circle 1	259
CDB-ID 320 – CDB-ID 321 – CDB-ID 322 – Geofencing Circle 2	260
CDB-ID 323 – CDB-ID 324 – CDB-ID 325 – Geofencing Circle 3	260
CDB-ID 400 – Default 2D DOP	260
CDB-ID 401 – Default 3D DOP	260
CDB-ID 402 – Startup 2D DOP	260
CDB-ID 403 – Startup 3D DOP	261
CDB-ID 500 – Text message	261
Appendix A: Acronyms and Definitions	262
A.1 Local Geodetic Datum Tables	263

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PNT-SG3FS GNSS Module Software User Guide

Table of Contents

List of Figures ____________________________________________________________ 14

List of Tables _____________________________________________________________ 15

Introduction

Overview ________________________________________________________________ 22

Firmware Version

Firmware Update Algorithm Protocol __________________________________________ 24

Firmware Update Software Tool ______________________________________________ 27

Port Settings Option ____________________________________________________ 28

Firmware Options ______________________________________________________ 28

Upgrade Process_______________________________________________________ 28

Receiver Description

GPS/Galileo/GLONASS/BeiDou Base Band (G3BB+) Processor ____________________ 29

Receiver Configuration _____________________________________________________ 29

Configuration Concept __________________________________________________ 29

Configuration Data Blocks (CDB) __________________________________________ 30

Firmware Configuration Commands ________________________________________ 33

Communication Channels ___________________________________________________ 34

Communication Over UART Port __________________________________________ 34

Communication Over I2C Port ____________________________________________ 35

Protocol Specification

NMEA Protocol ___________________________________________________________ 38

Communication Interface ________________________________________________ 38

Commands ___________________________________________________________ 38

Messages ____________________________________________________________ 40

RTCM Protocol ___________________________________________________________ 42

Assisted GNSS

Autonomous AGNSS _______________________________________________________ 43

Predictive AGNSS _________________________________________________________ 44

PGPS Server Access ___________________________________________________ 44

Password Generation ___________________________________________________ 45

Predictive AGNSS Seed Transmission ______________________________________ 45

Real-time AGNSS _________________________________________________________ 45

Password Generation ___________________________________________________ 46

Real-Time Assistance Data Uploading Procedure _____________________________ 46

Data Logging