January 3, 2008
User visible changes in the firmware version 3.2 since version 3.1 p3
Highlights.
For G3-based boards only (GR-3, Net-G3):
N.1 GPS L2C and GLONASS L2 C/A observables are available.
N.2 Support of common loop for L2 has been implemented.
N.3 Improved tracking of P-code L2 GLONASS signal has been added.
N.4 "Coarse" RAIM has been re-designed.
N.5 Logic for computing elevation/azimuth of satellites by means of using
almanac data has been tuned.
N.6 Geoidal heights are available for output (NMEA-0183 GGA contains this
information).
N.7 Computing coordinates expressed in local datum has been supported.
N.8 Output of NMEA GRS and GSA messages has been corrected.
N.9 Internal logic for maintaining the correspondance between
GLONASS slot and frequency channel numbers has been improved.
N.10 Conventions for file names have been changed in Net-G3 receivers.
N.11 LAT1/LON1/LAT2/LON2 options have been taken into the account.
For all boards (including GR-3 and Net-G3):
A.1 "AutoSeed" functionality (averaging of multiple base positions) has been
supported.
A.2 Tracking of GLONASS’ zero frequency channel number has been implemented.
A.3 Support for mmGPS functionality (transmitter ID managing and bridging) has
been added.
A.4 Elimination of frequency offset for EGGDT and Net-G3 boards in case of
setting the parameter "/par/frq/input" to "off" has been corrected.
A.5 The problem that could manifest itself by means of inability to resume
the computing of RTK solution, if a pause on the order of tens of minutes
in RTK data link occured, has been resolved.
A.6 The support of decoding of NMEA-0183 XDR message has been implemented. The
contents of XDR message is available for output via TPS message [XD].
A.7 New options have been added: SEED, _IMU, OMSV, TPBN, TPPM, TPVC, _L2C,
A.8 Antenna database has been updated. New types of antenna have been added
to existing ones. New version antenna database is 2.1.1 (NGS: 07/06/08
231 antennas).
A.9 Logic for outputting GGA string via NTRIP/PPP protocols has been improved.
A.10 More robust checking of SV IDs in incoming RTK/DGNSS data has been
implemented.
A.11 The method for turning on Extended Information Mode has been changed.
A.12 New commands for choosing internal/external antennae have been
implemented.
A.13 Parameters for enabling/disabling sources of RTK/DGNSS data have been
supported.
A.14 GPS satellites having zero clock parameters in almanac data can be
tracked without problems in all types of the boards.
A.15 The support of GSM connection was added for receivers that work with
FH/UHF Topcon, Satel and Arwest modems.
A.16 The possibility to obtain differential data through IP address and
corresponding port has been added.
A.17 The size of "/par/ppp/gprs/pdp/apn" parameter was extended to 64
bytes ( string[0..64]) instead of 32 as before.
A.18 CMR numbers was changed for antenna types listed below:
CMR=229 correspond now to "TPSGR3" antenna (was "TPSGR_3").
CMR=234 correspond now to "TPS_MC.A5" antenna(was "TPSMG_A5").
CMR=230 correspond now to "TPSCR.G3NONE" (was "TPSCR_G3").
A.19 For supporting the onboard Wavecom modems, PPP timeout for TPS UHF/FH
internal modem was changed from 5 to 10 seconds.
A.20 New PPP parameters have been added: mtu, ping, idle for better
CDMA support.
A.21 The support of new GLONASS datum PZ-90.02 has been implemented.
A.22 The command init,/setup/ has been made working properly for not G3-based
boards.
A.23 SBAS processing has been improved (corresponding changes have been added
to the troposphere model).
A.24 The parameter for switching between PZ-90 and PZ-90.02 dynamic
constants has been implemented. This parameter is required to maintain
compatibility with previous versions of firmware.
A.25 Datum ID "P90" corresponds to PZ-90.02 datum now. Previous PZ-90 datum
has got "P90-I" designation.
A.26 Support of Satel and ArWest modems has been tuned.
A.27 Problems connected with using jps/max and jps/min messages sets in RTK
mode have been resolved. This problem might affect performances when
working with combined GPS+GLONASS constellation.
A.28 Internal logic that deals with procesing new GLONASS satellites has been
modified.
A.29 Support of mmGPS functionality in EG3 boards has been tuned and modified.
0. Compatibility Notes.
0.1 Starting at the version 3.2, new method for turning the Extended
Information Mode on/off has been supported. It is required to push FN button
three times over the period of three seconds to enable/disable this mode.
0.2 It is not recommended using the parameter "/par/lock/pcode". Use the
parameters "/par/lock/gps/pcode" and "/par/lock/glo/pcode" instead.
0.3 Argument of the parameter "/par/lock/gps/l2c" has been changed. Now it
contains two arguments for turning on/off tracking of CL and CM
signals separately from each other.
0.4 File name conventions for AFRM mode have been changed for Net-G3
receivers: files created at hour boarders have the following names:
XXXXa, XXXXa001, XXXXa002... for interval 00:00:00-00:59:59;
XXXXb, XXXXb001, XXXXb002... for interval 01:00:00-01:59:59 etc.
0.5 TPS message [EN] has been outdated. Use [E3] instead.
0.6 Parameters "/par/ant/inp" and "/par/ant/curinp" are obsolete. Use the
parameters "/par/ant/rcv/inp" and "/par/ant/rcv/curinp" instead.
0.7 The default value of the parameter "/par/lock/notvis" is set to "on" for
G3-based boards (it is a read only parameter for these boards).
0.8 The range of arguments in parameters for locking/using GLONASS satellites
have been changed (parameters "/par/lock/glo/fcn/N" and
"/par/pos/glo/fcn/N"): now N is in the range of -7 - +13 (previous
range was +1 - +24).
0.9 The change in GLONASS datum leads to incompatibility when working with
previous versions of the firmware provided RTCM Message Types
20/21/31/32/34 are in use. In other words, the problem arises when
working in code differential mode or in RTK mode (if Message Types 20/21
are used). It is recommended to upload both the base and
the rover receiver with the same version 3.2. When working with Message
Types 20/21, it is required, also, to change the parameter
"/par/pos/datum/glo/dyn" to maintain compatibility with previous versions.
1. Messages.
1.1 Observables for GPS L2C and GLONASS L2 C/A signals (for G3-based boards
only).
1.1.1 [R3] Full GPS L2C / GLONASS L2 C/A Pseudoranges
Contains full GPS L2C / GLONASS L2 C/Apseudoranges for all the
satellites specified in the latest [SI] message.
struct PR_L2C {
f8 prange[nSats]; // Pseudorange [s]
+ u1 cs;// Checksum
};
1.1.2 [3R] Relative GPS L2C / GLONASS L2 C/A Pseudoranges
Contains relative GPS L2C / GLONASS L2 C/A pseudoranges for all
the satellites specified in the latest [SI] message. Relative GPS L2C /
GLONASS L2 C/A pseudorange is defined as difference between full
GPS L2C / GLONASS L2 C/A pseudorange and full C/A L1 pseudorange.
struct DPR_L2C {
f4 prangeDelta[nSats]; // PR GPS L2C / GLONASS L2 C/A - PR CA/L1 [s]
+ u1 cs; // Checksum
};
1.1.3 [P3] Full GPS L2C / GLONASS L2 C/A Carrier Phases
Contains the fullGPS L2C / GLONASS L2 C/A carrier phases for all
the satellites specified in the latest [SI] message.
struct PhaseL2C {
f8 phase[nSats]; //GPS L2C / GLONASS L2 C/A carrier phase [cycles]
+ u1 cs; // Checksum
};
1.1.4 [3P] GPS L2C / GLONASS L2 C/A Carrier Phases Computed Relative to [RC]
Pseudoranges
Contains the differences between the full GPS L2C / GLONASS L2
C/A carrier phases and the corresponding [RC] pseudoranges for all the
satellites specified in the latest [SI] message.
True GPS L2C / GLONASS L2 C/A carrier phase [cycles] =
((carrier phase from [3P]) +(pseudorange from [RC])[s])* L2_freq [Hz],
where L2_freq = nominal L2 carrier frequency (i.e., 1.22760 GHz)
struct PhaseD_L2C {
f4 phaseDelta[nSats]; // GPS L2C / GLONASS L2 C/A carrier phase -
// [RC] pseudorange [s]
+ u1 cs; // Checksum
};
1.1.5 [D3] GPS L2C / GLONASS L2 C/A Doppler
Contains GPS L2C / GLONASS L2 C/Adoppler estimates for
all the satellites specified in the latest [SI] message.
struct DopplerL2C {
i4 doppler[nSats]; // Doppler [Hz*10-4]
+ u1 cs; // Checksum
};
1.1.6 [F3] GPS L2C / GLONASS L2 C/A Signal Lock Loop Flags
Contains an array of the GPS L2C / GLONASS L2 C/A signal lock loop flags
for all the satellites specified in the latest [SI]
message. Functionally, these flags are identical to [FC]
struct FlagsL2C {
+ u2 flags[nSats]; // [bit-field]
+ u1 cs; // Checksum
};
1.1.7 [E3] GPS L2C / GLONASS L2 C/A Carrier to Noise Ratio
Contains GPS L2C / GLONASS L2 C/A channel carrier to noise ratios for
all the satellites specified in the latest [SI] message.
struct CarrierToNoiseRatioL2C {
u1 sn[nSats]; // C/N0 [dB*Hz]
+ u1 cs; // Checksum
};
1.2 [XD] Contents of NMEA-0183 XDR message (ASCII message)
%02D - Total number of groups that contain contents of XDR messages;
{%C,%02D,%02D%02D%02D,%02D%02D%02D,{%C%C,%S}} - This section comprises:
- source ID from which message was received;
- message counter for this port;
- date (day, month and year) of receiving;
- time (hour, minute and second) of receiving;
- message source identifier (e.g. "WI" or "YX");
- message data as text;
2. Parameters.
2.1 Parameters for choosing the antenna
Name: /par/ant/omni/inp
Access: rw
Type: enumerated
Values: [ int | ext ]
Default: int
Description: Set /query OmniStar antenna input mode:
int - use internal antenna for OmniStar
ext - use external antenna for OmniStar
Note: this command is not supported in the current receivers.
Name: /par/ant/rcv/inp
Access: rw
Type: enumerated
Values: [ int | ext | auto ]
Default: int
Description: Set /query receiver antenna input mode:
int - use internal antenna for receiver;
ext - use external antenna for receiver;
auto - automatic mode;
2.2 mmGPS (NBEAM) parameters.
Name: /par/pos/pd/nbeam/id
Access: rw
Type: enumerated
Values: 1 | 2 | 3 | 4 | any | auto
Default: auto
Description: Selection of ID of the transmitter the sensor must work
with. The best one from rms point of viewwill be selected
if the value is set to ’any’. In this case the receiver will try
to switch the best one. If you choose ’auto’ PZS itself
will try to find ID from present in view according
its own rules. Anytime it is possible to change ’any’ to
’auto’ to acquire signal again if there is any problem with
signal availability.
Do not forget properly set serial port used by PZS with help
of command /par/pos/pd/nbeam/port !
Name: /par/pos/pd/nbeam/any
Access: rw
Type: enumerated
Values: permanent | auto | arrange
Default: permanent
Description: In case of id==any this command instructs receiver what to do in cases:
- dissapering laser signal because of e.g. shading;
- unsuccessful switching to the best transmitter;
Value ’permanent’ instructs receiver try to continue acquiring signal up
to success. ’auto’ instructs PZS to try to find ID from
present in view according its own rules. ’arrange’ instructs
receiver to arrange all enabled IDs according rms and to try
consecutively catch one from available
Name: /par/pos/pd/nbeam/wait
Access: rw
Type: list {float t1, float t2}
Values: {0.099...60 , 0.099...60}
Default: {4.,60.}
Description: t1 defines time interval in seconds how long it is necessary
to waiting for choosed signal acquiring in cases of dissapering signal
and unsuccessful switching for values any==auto or
any==arrange. t2 defines how long it is necessary to work with
found signal. After t2 passing awaythe receiver will try to
acquire the best ID again.
Name: /par/pos/pd/nbeam/bridging
Access: rw
Type: boolean
Values: on | off
Default: off
Description: Setting this parameter to ’on’ instructs receiver to bridge
(to compensate jump) mmGPS height estimationat ID
changing. If you choose ’on’ be sure there is not considerable
changing of height during laser signal absence
Name: /par/pos/pd/nbeam/type
Access: rw
Type: enumerated
Values: const | dissap
Default: const
Description: This parameter defines type of bridging. Value ’const’ means the
compensation is distributed uniformly (constantly) over all zone where you
works with current ID. This type is recommended only for case
compact site (non-stretched) and when height installation /
initialization error of transmitter is dominant source of
error. Value ’dissap’ means a jump is instantaneously
compensated but then height estimation is slowly returning
back to original level (compensation is
dissapearing). Dissapering process has linear behaivour and
distibuted over zone with radius equal to double distance
between receiver and transmitter in moment of ID
changing. This type allow to avoid accumulation of error as
sqrt(N)*sigma where N- is total number of used transmitter
along path; sigma - standard deviation of error of single
transmitter. With help of this technique it is possible to
provide standard deviation of just sigma between design (project)
profile and measured by mmGPS. This technique is recommended
for stretched site (e.g. road work) when number N is large
enough (N>10) and when dominant error is either:
- horizontal installation/initialization error of transmitter
- thermal variation of self leveling mechanism of transmitter (wrong level calibration)
- strong beam refraction at long distances
- strong beam nonlinearity at long distances
- any other effect with non constant yield over distance
2.3 Parameters of tracking loops for GPS L2C / GLONASS L2 C/A signals (for G3-based boards only)
Name: /par/raw/l2pll/order
Access: rw
Type: int
Values: [ 1 | 2]
Default: 1
Description: This parameter specifies the order of GPS L2C and GLONASS L2
C/A phase lock loop (PLL).
Name: /par/raw/l2pll/band
Access: rw
Type: float
Values: [ 0.000001 | 50. ]
Default: 2.5
Description: This parameter sets the bandwidth of GPS L2C and GLONASS L2 C/A PLL.
Name: /par/raw/l2cll/order
Access: rw
Type: int
Values: [ 1 | 2]
Default: 1
Description: This parameter defines the order of the receiver’s GPS L2C and
GLONASS L2 C/A delay lock loop (DLL).
Name: /par/raw/l2cll/band
Access: rw
Type: float
Values: [ 0.000001 | 10. ]
Default: 0.4
Description: This parameter sets the bandwidth of the receiver’s GPS L2C
and GLONASS L2 C/A DLL.
2.4 Tracking of GPS/GLONASS L1/L2 P-codes
Name: /par/lock/gps/pcode,{P1,P2}
Access: rw
Type: bool
Values: [ on | off ]
Default: off,off
Description: This parameter turns on/off GPS P1/P2 signals tracking.
Valid combinations are {on,on} or {off,off} only.
Name: /par/lock/glo/pcode,{P1,P2}
Access: rw
Type: bool
Values: [ on,on | off,off ]
Default: off,off
Description: This parameter turns on/off GLONASS P1/P2 signals
tracking.
Valid combinations are {on,on} or {off,off} only.
2.5 Tracking of GPS L2C / GLONASS L2 C/A signals
Name: /par/lock/gps/l2c,{CL,CM}
Access: rw
Type: bool
Values: [ on,on | off,off ]
Default: off,off
Description: This parameter turns on/off GPS CL and CM signals tracking.
Valid combinations are {on,on} or {off,off} only.
Name: /par/lock/glo/l2c
Access: rw
Type: bool
Values: [ on | off ]
Default: off
Description: This parameter turns on/off GLONASS L2 C/A signal tracking.
2.6 Parameters related to AutoSeed functionality
2.6.1 Commands for working with current point.
2.6.1.1 Name of current point.
Name: /par/ref/avg/list/curpnt/name
Access: rw
Type: string[0..19]
Values:
Default: "UNUSED"
Description: Set/print the name of the current point
2.6.1.2 Identifier of the current point.
Name: /par/ref/avg/list/curpnt/id
Access: rw
Type: integer
Values: 0..4095
Default: 0
Description: print/set identifier of the current point
2.6.1.3 L1PC coordinates of the current point.
Name: /par/ref/avg/list/curpnt/pos/[xyz | geo]
Access: rw
Type: [ {datum,lat,lon,alt} | {datum,x,y,z} ]
Values: see GRIL, please
Default: [ {W84,0,0,0} | {W84,6378137,0,0} ]
Description: print/set L1PC coordinates of the current point. Datum must be "W84".
2.6.1.4 ARP coordinates of the current point.
Name: /par/ref/avg/list/curpnt/arp/[xyz | geo]
Access: rw
Type: [{datum,lat,lon,alt} | {datum,x,y,z}]
Values: see GRIL, please
Default: [{W84,0,0,0} | {W84,6378137,0,0}]
Description: print/set ARP coordinates of the current point. Datum must be "W84".
2.6.1.5 Fill curpnt fields automatically (all, only position,
only name, only identifier, information from concrete
point from the list). Date and time will be written
automatically upon finishing the point to list addition.
Name: /par/ref/avg/list/curpnt/fill
Access: w
Type: enum
Values: [all, pos, name, id, [0..99] ]
Default:
Description: set (all fields, only position, only name, only identifier,
information from concrete point from the list) for fill
curpnt fields automatically. Date and time will be written
automatically upon finishing the point to list addition
2.6.2 Commands for working with the list of points.
2.6.2.1 Print parameters of the given point from the list
2.6.2.1.1 Print the name of the point
Name: /par/ref/avg/list/pnts/[00..99]/name
Access: r
Type: string[0..19]
Values:
Default: "UNUSED"
Description: print the name of the point
2.6.2.1.2 Print L1PC coordinates of the point
Name: /par/ref/avg/list/pnts/[00..99]/pos/[xyz | geo]
Access: r
Type: [ {datum,lat,lon,alt} | {datum,x,y,z} ]
Values:
Default:
Description: print L1PC coordinates of the point
2.6.2.1.3 Print ARP coordinates of the point
Name: /par/ref/avg/list/pnts/[00..99]/arp/[xyz | geo]
Access: r
Type: [ {datum,lat,lon,alt} | {datum,x,y,z} ]
Values:
Default:
Description: print ARP coordinates of the point
2.6.2.1.4 Print date of the point
Name: /par/ref/avg/list/pnts/[00..99]/date
Access: r
Type: string
Values:
Default:
Description: print date of the point
2.6.2.1.5 Print index of the point
Name: /par/ref/avg/list/pnts/[00..99]/index
Access: r
Type: integer
Values: [0..99]
Default:
Description: print index of the point
2.6.2.1.6 Print id of the point
Name: /par/ref/avg/list/pnts/[00..99]/id
Access: r
Type: integer
Values: [0..4095]
Default:
Description: print id of the point
2.6.2.1.7 Print "auto" flag that indicates that the point was created
automatically
Name: /par/ref/avg/list/pnts/[00..99]/auto
Access: r
Type: boolean
Values:
Default:
Description: print "auto" flag that indicates that the point was
created automatically
2.6.2.1.8 Print "protect" flag that indicates that the point is protected
from deleting
Name: /par/ref/avg/list/pnts/[00..99]/protect
Access: r
Type: boolean
Values:
Default:
Description: print "protect" flag that indicates that the point is
protected from deleting
2.6.2.1.9 Print distance from current point to given point
Name: /par/ref/avg/list/pnts/[00..99]/dist
Access: r
Type: f8
Values:
Default:
Description: print distance from current point to given point (in meters)
2.6.2.2 Print parameters of the [used | auto | manual | all] points
from the list
Name: /par/ref/avg/list/pnts/[used|auto|manual|all]
Access: r
Type: {index, date, name, pos={xyz, geo},arp={xyz, geo}, id, auto, protect}
Values:
Default:
Description: print list of the points
2.6.2.3 Print total number of the points having the given flag
Name: /par/ref/avg/list/pnts/count/[used | auto | manual | free | protect]
Access: r
Type: int
Values: [0..100]
Default:
Description: print total number of the points having the given flag
2.6.2.4 Add current point to list
Name: /par/ref/avg/list/pnts/add
Access: w
Type: integer
Values: [-1..99]
Default:
Description: add current point to list. "-1": index will be assigned
automatically, [0..99]: index specified by user.
2.6.2.5 Delete one point (or all points) from list
Name: /par/ref/avg/list/pnts/del
Access: w
Type: integer
Values: [-1..99]
Default:
Description: [0..99]: Delete one point from list. "-1": delete all points.
2.6.2.6 Sort out the list of the points in accordance
with specified criterion.
Name: /par/ref/avg/list/pnts/sort
Access: w
Type: enum
Values: [date | near | protect | name]
Default:
Description: Use set comand for sort out the list of the points
in accordance with specified criterion
(near - the nearest points with respect to curpnt).
2.6.2.7 Set the flag "protect" that prevents the given point
from deleting.
Name: /par/ref/avg/list/pnts/[00..99]/option/protect
Access: w
Type: bool
Values: [on | off]
Default:
Description: set the flag "protect" that prevents the given point from deleting
2.7 Enable/disable work of RTK engine.
Name: /par/pos/pd/engine
Access: rw
Type: bool
Values: [on | off]
Default: on
Description: This parameter was added in order to avoid interference with
other engines that can produce RTK-level solution.
2.8 Enable/disable the use of RTK data for carrier phase differential mode
from given source.
Name: /par/pos/pd/src/ext
Access: w
Type: bool
Values: [on | off]
Default: on
Description: This parameter allows the receiver to use RTK data obtained
from an external source (such as a base station, for example)
for computing RTK-level solution.
Name: /par/pos/pd/src/hp
Access: rw
Type: bool
Values: [on | off]
Default: on
Description: This parameter allows the receiver to use RTK data obtained
from HP service for computing RTK-level solution.
Name: /par/pos/pd/src/
Access: w
Type: bool
Values: [on | off]
Default: on
Description: It is a method to enable/disable the use of any RTK data
(parameters /par/pos/pd/src/ext and /par/pos/pd/src/hp will be
set to specified value).
2.9 Enable/disable the use of DGNSS data for carrier phase differential mode
from given source.
Name: /par/pos/cd/src/ext
Access: rw
Type: bool
Values: [on | off]
Default: on
Description: This parameter allows the receiver to use DGNSS data obtained
from an external source (such as a base station, for example)
for computing DGNSS solution.
Name: /par/pos/cd/src/sbas
Access: rw
Type: bool
Values: [on | off]
Default: on
Description: This parameter allows the receiver to use DGNSS data obtained
from SBAS satellites for computing DGNSS solution.
Name: /par/pos/cd/src/vbs
Access: w
Type: bool
Values: [on | off]
Default: on
Description: This parameter allows the receiver to use DGNSS data obtained
from VBS service for computing DGNSS solution.
Name: /par/pos/cd/src/
Access: w
Type: bool
Values: [on | off]
Default: on
Description: It is a method to enable/disable the use of any DGNSS data
(parameters /par/pos/cd/src/ext, /par/pos/pd/src/sbas and
/par/pos/pd/src/vbs) will be set to specified value).
2.10 Parameters for GSM data support
Name: /par/modem/N/model
Access: rw
Type: enumerated
Values: generic | tps | satel | arwest
Default: generic
Description: This parameter sets the correct modem model type on port N
for later use as access point or endpoint to provide correction
data transfer from the base to the rover
Name: /par/modem/debug
Access: rw
Type: enumerated
Values: on | off
Default: off
Description: This parameter sets the debug mode for data transfer over GSM.
2.11 Parameters for obtaining data via TCP/IP connection
Name: /par/mobile
Access: r
Type: list {mode, service, state,ip,rover,base,data,debug,error}
Description: The list of MOBILE parameters.
Name: /par/mobile/mode
Access: rw
Type: enumerated
Values: on | off
Default: off
Description: MOBILE mode parameter to turn on/off MOBILE procedure.
Name: /par/mobile/service
Access: rw
Type: enumerated
Values: rover | base | ip
Default: ip
Description: MOBILE service parameter to select procedure type
Name: /par/mobile/state
Access: r
Type: enumerated
Values: off | available | unavailable | terminated | data | terminal
Default: off
Description: MOBILE state parameter
Name: /par/mobile/ip
Access: r
Type: list { addr, port, gga, user, passwd }
Description: The list of IP parameters.
Name: /par/mobile/ip/addr
Access: rw
Type: string[15]
Values: Any valid IP address
Default: "0.0.0.0"
Description: IP address of the data stream
Name: /par/mobile/ip/port
Access: rw
Type: integer
Values: [0..65535]
Default: 0
Description: Port of the data stream
Name: /par/mobile/ip/user
Access: rw
Type: string[0..32]
Default: ""
Description: the user-ID for future use
Name: /par/mobile/ip/passwd
Access: rw
Type: string[0..32]
Default: ""
Description: the password for future use
Name: /par/mobile/ip/gga
Access: rw
Type: integer
Values: [0..86400]
Default: 0
Description: Period in seconds to send NMEA GGA message to the
data source. If 0 then GGA message will not send.
Name: /par/mobile/rover
Access: r
Type: list { base, port, passwd }
Description: The list of ROVER parameters.
Name: /par/mobile/rover/base
Access: rw
Type: string[15]
Values: Any valid IP address
Default: "0.0.0.0"
Description: IP address of the base to connect
Name: /par/mobile/rover/port
Access: rw
Type: integer
Values: [0..65535]
Default: 0
Description: Port of the base to connect
Name: /par/mobile/rover/passwd
Access: rw
Type: string[0..32]
Default: ""
Description: the password for the base to connect
Name: /par/mobile/base
Access: r
Type: list { addr, port, passwd }
Description: The list of ROVER parameters.
Name: /par/mobile/base/addr
Access: r
Type: string[15]
Values: IP address of the receiver, obtained after PPP
connection was established
Default: "0.0.0.0"
Description: IP address of the base
Name: /par/mobile/base/port
Access: r
Type: integer
Values: [0..65535]
Default: 0
Description: Port of the base
Name: /par/mobile/base/passwd
Access: r
Type: string[0..32]
Default: ""
Description: the password for the base
Name: /par/mobile/data
Access: r
Type: list { port, imode }
Description: The list of MOBILE data parameters.
Example:
Name: /par/mobile/data/port
Access: rw
Type: enumerated
Values: any input port name
Default: /dev/ser/d
Description: MOBILE data port. The data received from the data stream
will be passed to the appropriate decoder as if they were
received from the specified port. The ’imode’ of the
specified port should be set by the user (using
/par/[port]/imode parameter) to match the data format of the
mountpoint.
Name: /par/mobile/data/imode
Access: r
Type: enumerated
Values: refer to the /par/[port]/imode description
Default: refer to the /par/[port]/imode description
Description: current input mode of the receiver input port that is
selected as MOBILE data port.
Name: /par/mobile/error
Access: r
Type: string[0..64]
Default: "No errors"
Description: Human readable description of the failure reason if any.
Name: /par/mobile/debug
Access: rw
Type: enumerated
Values: on | off
Default: off
Description: This parameter sets the debug mode for MOBILE.
2.12 Parameters for locking/using GLONASS satellites
Name: /par/lock/glo/frq/N
Access: rw
Type: bool
Values: on | off
Default: on
Description: enables/disables tracking of given GLONASS satellite
with frequency channel number equal to N (-7...13).
Name: /par/pos/glo/frq/N
Access: rw
Type: bool
Values: on | off
Default: on
Description: enables/disables the use of given GLONASS satellite
with frequency channel number equal to N (-7...13)
for positioning.
2.13 Parameters for PPP connection
Name: /par/ppp/mtu
Access: rw
Type: integer
Values: [1000..1500]
Default: 1500
Description: MTU value to change the default PPP settings during
server negotiations
Name: /par/ppp/ping
Access: rw
Type: integer
Values: [0..300]
Default: 10
Description: Number of echo packets send to server to check if line
is dead, before disconnect. For CDMA usually set to
0. Depends on the CDMA provider settings
Name: /par/ppp/idle
Access: rw
Type: integer
Values: [0..7200]
Default: 0
Description: The interval in seconds if ping is set to 0 to define
line dead if no data received from the server. Mostly
used for CDMA
2.14 Switching between dynamic constants that are used in the definition of
PZ-90 and PZ-90.02 datum
Name: /par/pos/datum/glo/dyn
Access: rw
Type: enumerated
Values: P90 | P90-I
Default: P90
Description: PZ-90 and PZ-90.02 datum use different dynamic constants. In
order to maintain compatibility with previous versions of the
firmware, this parameter needs to be changed when working with
RTCM Message Types 20/21.
July 18, 2007
User visible changes in the firmware version 3.1 p3 since version 3.1 p2
Highlights.
1. Support of external/internal CDMA modem has been implemented.
2. The output of the state of the parameter "/par/frq/amp" for NET-G3 boards
has been implemented.
3. If the parameter "/par/frq/input" was set to "off", EGGDT and NET-G3 boards did not
correct the oscillator frequency offset upon turning the power on. This
problem has been resolved now.
4. The logic for locking SBAS satellites have been modified. Now all the
available SBAS satellites can be tracked.
5. New commands that allow specifying the timeouts for SBAS fast corrections in
manual mode have been added.
6. Performances of DGNSS (code differential) mode have been improved.
7. Corrections connected with identification of GLONASS satellites, in which
C/A L2 signal is available, have been implemented.
8. RTK mode: internal logic improvements (in particular, for G3-based
receivers).
9. [DL] message: the format has been corrected (a comma has been added to the
end of the group of parameters embraced with {...}).
10. The problem connected with AFRM mode (the receiver does not open a new file,
if a pre-defined amount of free memory remains) has been resolved.
Note: this problem was not resolved in the version 3.1p1.
11. The contents of [CC], [C1] and [C2] messages has been corrected for
G3-based receivers.
12. The logic of "coarse" RAIM has been modified.
0. Compatibility notes.
0.1 The format of [DL] message has been corrected to make it compatible with
rules defined for ASCII messages.
1. Messages.
No changes.
2. Parameters.
2.1 Parameters for SBAS fast corrections
Name: /par/waas/fastcor/maxage
Access: rw
Type: int
Values: [1..1200]
Default: 18
Description: This parameter specifies the maximum age (timeout) of SBAS
fast corrections. This setting will affect processing of SBAS
fast corrections provided the parameter
/par/waas/fastcor/mode is set to "manual".
Name: /par/waas/fastcor/mode
Type: enumerated
Values: auto | manual
Default: auto
Description: Being set to "manual", this parameter allows the user to specify a user-defined
timeout for SBAS fast corrections else the timeouts will be
determined automatically in accordance with broadcast data.
2.2 For CDMA support, new PPP parameters have been added:
Name: /par/ppp
Access: r
Type: list {state, speed, xt, modem, addr, debug,
auth, compression, gprs, cdma, dialup}
Description: The list of PPP parameters.
Name: /par/ppp/cdma
Access: r
Type: list { dial, user }
Description: The list of gprs parameters.
Name: /par/ppp/cdma/dial
Access: rw
Type: string[0..31]
Default: "#777"
Description: Dial number for CDMA data connection
Name: /par/ppp/cdma/user
Access: rw
Type: string[0..31]
Default: ""
Description: User name
Name: /par/ppp/cdma/passwd
Access: rw
Type: string[0..31]
Default: ""
Description: CDMA password.
NOTE:
To create PPP link through internal or external CDMA modem connected to the
receiver serial port, the user has to set the modem mode of corresponding modem
port to "cdma":
set,/par/modem/c/mode,cdma
To close PPP connection the user has to set modem mode to "off":
set,/par/modem/c/mode,off
For CDMA modem, PPP connection works the same way as PPP connection
established through GPRS.
2.3 The speed parameter of PPP was changed to rewrite.
Name: /par/ppp/speed
Access: rw
Type: enumerated
Values: 9600 | 19200 | 38400 | 57600 | 115200
Default: 9600
Description: PPP connection speed (baud rate).
Notes. If you change the speed parameter before set modem mode to
gprs, cdma or dialup, the firmware start searching
from the modem responce form the specified baud
rate. Was made to speed up the modem serch if the
real baud rate is known and the user don’t want wait
for automatical definition.
April 16, 2007
User visible changes in the firmware version 3.1 p2 since version 3.1 p1.
Highlights.
1. Support of ArWest modems has been implemented.
2. The correspondence between slot and frequency numbers in GLONASS has been
tuned.
3. RTK mode: internal logic improvements.
0. Compatibility notes.
No changes.
1. Messages.
No changes.
2. Parameters.
2.1 Select internal modem type
Name: /par/ppp/modem
Access: rw
Type: enumerated
Values: wavecom | tps | satel | arwest
Default: wavecom
Description: Support for modems over standard AT
commands. Currently used for FH/UHF Topcon modems,
ArWest and Satel
3. Options.
No changes.
4. Commands.
No changes.
5. Obsolete parameters/commands/messages
5.1 Parameter /par/ppp/xt
This parameter is obsolete. It can be removed from the future versions of the
firmware. Instead of this parameter, use the new parameter /par/ppp/modem. The
state "off" of the parameter /par/ppp/xt corresponds to the argument
"wavecom" of the parameter /par/ppp/modem. The state "on" of the parameter
/par/ppp/xt corresponds to any other argument of the parameter /par/ppp/modem.
<END>
January 24, 2007
User visible changes in the firmware version 3.1 p1 since version 3.1.
Highlights.
1. Support of G24 and AirLink modems has been implemented.
2. Parameter for turning on "no delay" mode in TCP connection has been added.
3. New firmware for GR-3 Power Board has been released. Corresponding modification was
added to the GNSS firmware.
4. Power save mode for Ethernet chip in EG-3 board (Net-G3 receiver) has been tuned.
5. The problem connected with AFRM mode (the receiver does not open a new file,
if a pre-defined amount of free memory remains) has been resolved.
6. Untimely exit from sleep mode has been corrected (for not G3-based boards).
0. Compatibility notes.
0.1 To support "SATEL" modem the new command separator "@" in the script
strings was changed to "|". It affects the following parameters:
/par/ppp/gprs/extras
/par/ppp/dialup/init
0.2 Default value for /par/ppp/dialup/init parameter was changed to
"TIMEOUT|10||+++||ATH1|OK|ATI|OK|ATE0|OK|".
1. Messages.
No changes.
2. Parameters.
2.1 Turn on and off "no delay" mode in TCP connection.
Name: /par/net/tcp/nodelay
Access: rw
Type: boolean
Values: on | off
Default: off
Description: Turns on/off "no delay" mode in TCP connection
<END>
August 14, 2006
User visible changes in the firmware version 3.0 since version 2.6.
Highlights.
1. New type of the board (GR-3), which is based on Paradigm-G3 chip, is
supported.
2. It is not recommended to use the command "init,/par/". Instead, use the
command "init,/setup/".
3. The bug connected with the output of [GD] and [LD] messages has been fixed.
4. RTCM 3.0 messages: some corrections have been made. These corrections have
to improve overall compatibility with the standard.
More Detailed Description
(refer to GRIL for even more details)
0. Compatibility notes.
0.1 GR-3: the list of the parameters, which are not supported in the version 3.0:
0.1.1 /par/ant/inp (GR-3 has got only one antenna input)
0.1.2 /par/pos/cd/ionofree (this parameter will be avialable in next versions)
0.1.3 /par/pos/cd/rlim (this parameter will be avialable in next versions)
0.1.4 /par/pos/fix/pld (this parameter will be avialable in next versions)
0.1.5 /par/pos/gpsglo (this parameter will be avialable in next versions)
0.1.6 /par/pos/pld (this parameter will be avialable in next versions)
0.1.7 /par/pwr/extports (hardware support is not available)
0.1.8 /par/pwr/ports (hardware support is not available)
0.1.9 /par/pwr/ports&def (hardware support is not available)
0.1.10 /par/pwr/swd (hardware support is not available)
0.1.11 /par/pwr/swd/2 (hardware support is not available)
0.1.12 /par/pwr/swd/2&def (hardware support is not available)
0.1.13 /par/pwr/swd/3 (hardware support is not available)
0.1.14 /par/pwr/swd/3&def (hardware support is not available)
0.1.15 /par/pwr/swd/4 (hardware support is not available)
0.1.16 /par/pwr/swd/4&def (hardware support is not available)
0.1.17 /par/pwr/switch/3 (hardware support is not available)
0.1.18 /par/pwr/switch/3&def (hardware support is not available)
0.1.19 /par/pwr/switch/4 (hardware support is not available)
0.1.20 /par/pwr/switch/4&def (hardware support is not available)
0.1.21 /par/raw/dopp/smi
0.1.22 /par/pos/raim/* (RAIM will be available in next versions)
0.1.23 /par/pos/cd/mult/* (Multibase DGPS mode is not supported)
0.1.24 /par/raw/iono/* (these parameters will be avialable in next versions)
0.1.25 /par/pos/filt/* (these parameters are obsolete)
0.1.26 /par/ref/avg/* (these parameters will be avialable in next versions)
0.2 GR-3: the list of the parameters, in which arguments were changed in the version 3.0:
Name: /par/pwr/mode
Access: rw
Type: enumerated
Values: auto | a | b | mix | ext | extbat
Default: auto
Alteration: New argument "extbat" has been added: it corresponds to the
case when an external battery powers GR-3.
Name: /par/pwr/charge/bat
Access: rw
Type: enumerated
Values: off | auto
Default: auto
Alteration: Arguments: "a" and "b" have been removed.
Name: /par/pwr/charge/curbat
Access: r
Type: enumerated
Values: off | a | b | ab
Alteration: New argument "ab" has been added. It corresponds to the case
when both batteries "a" and "b" are in use.
Name: /par/pwr/switch
Access: r
Type: array [2...2]
Values: on | off
Alteration:: Only the first argument (switch 2) is available, two other
arguments (third and fourth ones) are not available.
Name: /par/lock/notvis
Access: rw
Type: boolean
Values: on | off
Alteration: This parameter is always set to "off".
1. Messages.
No changes.
2. Parameters.
2.1 GR-3 new parameters (these parameters are available for GR-3 boards only)
Name: /par/pwr/extbat
Access: r
Type: float
Description: External battery voltage [volts].
Name: /par/pwr/chrgdc/[a/b]
Access: r
Type: float
Description: External battery current [milliamperes].
Name: /par/raw/dopp/band
Access: r/w
Type: float
Values: [0.1..10]
Default: 3.0
Description: The bandwidth of the loop that relates to computing of
Doppler observables [Hertz].
3. Options.
No changes.
4. Commands.
4.1 init,/setup/
This command sets all the receiver parameters to their default values, and
makes a re-start of the receiver. Collected navigation data (satellite ephemerides and
almanac) will not be erased upon issuing this command.
This command can be considered as an analog of the command "init,/par/" except
that a receiver re-start occurs after the command "init,/setup/".
5. Obsolete parameters/commands/messages
5.1 init,/par/
It is not recommended to use this command since there are too many initializations,
which are done on-the-fly. Such initializations may affect the normal work of the receivers.
Instead, the command init,/setup/ should be used.
<END>
March 16, 2006
User visible changes in the firmware version 2.6 since version 2.5p1.
Highlights.
1. GPRS/PPP support has been implemented.
2. NTRIP client support has been implemented.
3. Under some circumstances the receiver could "hang up" when both Co-Op
tracking and code multipath reduction were turned on. This problem has
been fixed now.
4. Some improvement of receiver time synchronization accuracy to an external source of event
pulses (primary for mmGPS goal).
More Detailed Description
(refer to GRIL for even more details)
1. Messages.
1. [ha] Heading and pitch.
struct {
f4 heading; // Heading of the baseline between the base and the rover
// receiver [radians]
f4 pitch; // Pitch of the baseline between the base and the rover
// receiver [radians]
+ u1 cs; // Checksum
};
This message is available in RTK mode only.
2. Parameters.
2.1 GPRS/PPP parameters (these parameters are available for boards that have 4096 Kbytes RAM)
The parameters below are mostly useful to provide a method for establishing
either GPRS or dialup connection to a provider of Internet services using
point-to-point protocol (PPP).
Name: /par/ppp
Access: r
Type: list {state, speed, xt, addr, debug,
auth, compression, gprs, dialup}
Description: The list of PPP parameters.
Name: /par/ppp/state
Access: r
Type: enumerated
Values: off | connecting | connected | disconnected
Default: off
Description: PPP connection state.
Name: /par/ppp/speed
Access: r
Type: enumerated
Values: 9600 | 19200 | 38400 | 57600 | 115200
Default: 9600
Description: PPP connection speed (baud rate).
Name: /par/ppp/xt
Access: rw
Type: boolean
Values: on | off
Default: off
Description: Extension support for modem over standard IT
commands. Currently used for Motorola G-20 modem with Hiper
XT GPS receiver.
Name: /par/ppp/addr
Access: rw
Type: string
Values: Any valid IP address
Default: "0.0.0.0"
Description: IP address of a peer of this PPP connection. If (0.0.0.0),
the peer will have to supply the local IP address during
IPCP negotiations. When connected, the actual local IP
address is accessible through /par/net/stat/if/ppp0/addr
parameter.
Name: /par/ppp/debug
Access: rw
Type: boolean
Values: on | off
Default: off
Description: Enable connection debugging facilities.
Name: /par/ppp/auth
Access: r
Type: list { pap, chap }
Description: The list of PPP authentication parameters.
Name: /par/ppp/auth/pap
Access: rw
Type: boolean
Values: on | off
Default: on
Description: Use unencrypted password (PAP)
Name: /par/ppp/auth/chap
Access: rw
Type: boolean
Values: on | off
Default: on
Description: Use challenge handshake authentication protocol (CHAP).
Name: /par/ppp/comp
Access: r
Type: list { vj, vjc }
Description: The list of PPP compression parameters.
Name: /par/ppp/comp/vj
Access: rw
Type: boolean
Values: on | off
Default: off
Description: Enabled/disabled Van Jacobson style TCP/IP header compression
in both the transmit and receive direction.
Name: /par/ppp/comp/vjc
Access: rw
Type: boolean
Values: on | off
Default: off
Description: Enabled/disabled the connection-ID compression in Van
Jacobson style TCP/IP header compression.
Name: /par/ppp/gprs
Access: r
Type: list { dial, user, passwd, pdp }
Description: The list of gprs parameters.
Name: /par/ppp/gprs/dial
Access: rw
Type: string[0..32]
Default: "*99***1#"
Description: dial number for gprs connection
Name: /par/ppp/gprs/user
Access: rw
Type: string[0..32]
Default: ""
Description: user name
Name: /par/ppp/gprs/passwd
Access: rw
Type: string[0..32]
Default: ""
Description: GPRS password. This parameter is never printed implicitly.
Name: /par/ppp/gprs/pdp
Access: r
Type: list { id, apn }
Description: The list of Packet Data Protocol (PDP) context parameters.
Name: /par/ppp/gprs/pdp/id
Access: rw
Type: integer
Values: [1..4]
Default: 1
Description: PDP context identifier.
Name: /par/ppp/gprs/pdp/apn
Access: rw
Type: string[0...32]
Default: ""
Description: Access Point Name.
Name: /par/ppp/gprs/extras
Access: rw
Type: string[0...32]
Default: ""
Description: Extra modem initialization sctring to let the user add other
AT command. Example: "AT+CGQMIN=1"
Name: /par/ppp/dialup
Access: r
Type: list { dial, user, passwd, init }
Description: The list of dialup parameters.
Name: /par/ppp/dialup/dial
Access: rw
Type: string[0..32]
Default: ""
Description: dial number for dialup internet provider
Name: /par/ppp/dialup/user
Access: rw
Type: string[0..32]
Default: ""
Description: user (login) name
Name: /par/ppp/dialup/passwd
Access: rw
Type: string[0..32]
Default: ""
Description: dialup password. This parameter is never printed implicitly.
Name: /par/ppp/dialup/init
Access: rw
Type: string[0..64]
Default: "@AT@OK@ATI@OK@ATT@OK@"
Description: chat script string to initialize the dialup modem. Use the
’@’ character instead of cartridge return to separate the
commands.
Name: /par/ppp/error
Access: r
Type: string[0..256]
Default: ""
Description: string to display most ppp error messages.
Notes:
To create PPP link through internal or external GSM modem connected to the
receiver serial port, the user should set modem mode of corrsponding modem
port to "gprs":
set,/par/modem/c/mode,gprs
To close PPP connection the user should set modem mode to "off":
set,/par/modem/c/mode,off
The firmware allows the user to set modem mode to "gprs" on all ports
independently. The firmware scans modem mode parameter for each port from
modem/a to modem/d and selects the first one with the value "gprs" to create
PPP link. Should the ’mode’ parameter of this modem port be set to "off", the
PPP connection for this port will be terminated and the firmware will repeat
search for modem mode equal to "gprs" value from port a to d.
Example:
%%set,/par/modem/c/pin,"0000" #set SIMCard PIN as modem parmeter
%%print,/par/modem/c/pin,on
RE019%%/par/modem/c/pin="0000"
%%set,/par/ppp/gprs/user,"mts"
%%set,/par/ppp/gprs/passwd,"mts"
%%set,/par/ppp/gprs/pdp/apn,"internet.mts.ru"
%%set,/par/modem/c/mode,gprs
%%print,/par/ppp:on
RE02F%%/par/ppp={state=connected,speed=19200,xt=off,
RE024%% gprs={dial="*99***1#",user="mts",
RE026%% pdp={id=1,apn="internet.mts.ru"}},
RE039%% dialup={dial="",user="",init="@AT@OK@ATI@OK@ATT@OK@"},
RE019%% auth={pap=on,chap=on},
RE019%% comp={vj=off,vjc=off},
RE01A%% addr=0.0.0.0,debug=off}
%%print,/par/ppp/state:on
RE01A%%/par/ppp/state=connected
%%print,net/stat/if/ppp0/addr:on
RE02A%%/par/net/stat/if/ppp0/addr=213.87.12.147
%%set,/par/modem/c/mode,off
%%print,/par/ppp/state:on
RE014%%/par/ppp/state=off
2.2 NTRIP client parameters.
data from particular mountpoint, and then receive the data and use them as
RTK/DGPS corrections.
Name: /par/ntrip
Access: r
Type: list {mode, state, caster, data, error}
Description: The list of NTRIP parameters.
Name: /par/ntrip/mode
Access: rw
Type: enumerated
Values: on | off
Default: off
Description: NTRIP mode parameter to turn on/off NTRIP procedure.
Name: /par/ntrip/state
Access: r
Type: enumerated
Values: off | wait | data | sleep
Default: off
Description: NTRIP connection state. If state is "wait", receiver trying
to connect to the caster. If state is "data", receiver
gets correction data from NTRIP mountpoint. State "sleep"
means that the receiver ntrip client was unable to connect to
the caster, in this case see /par/ntrip/error for the reason.
Name: /par/ntrip/caster
Access: r
Type: list { addr, port, mountpt, user, passwd, nmea }
Description: The list of caster parameters.
Name: /par/ntrip/caster/addr
Access: rw
Type: string[15]
Values: Any valid IP address
Default: "0.0.0.0"
Description: IP address of the NTRIP caster
Name: /par/ntrip/caster/port
Access: rw
Type: integer
Values: [0..65535]
Default: 0
Description: Port of the NTRIP caster
Name: /par/ntrip/caster/mountpt
Access: rw
Type: string[15]
Default: ""
Description: Mountpoint of the NTRIP caster.
Name: /par/ntrip/caster/user
Access: rw
Type: string[0..32]
Default: ""
Description: the user-ID for the protected space of the
requested mountpoint. The only basic authentication scheme is
supported. If empty no user and password values will be send
to the NTRIP caster.
Name: /par/ntrip/caster/passwd
Access: rw
Type: string[0..32]
Default: ""
Description: the password for the protected space of the requested
mountpoint. Only basic authentication scheme is
supported. This parameter is never printed implicitly.
Name: /par/ntrip/caster/nmea
Access: rw
Type: integer
Values: [-1..86400]
Default: 0
Description: Period in seconds to send NMEA GGA message to the mountpoint.
-1 means that no GGA string will send to the caster. If 0 then
GGA message will send only once after connection to the
caster.
Name: /par/ntrip/caster/table
Access: r
Description: Force the receiver to download the sourcetable from
the NTRIP caster and output it in the reply.
Example:
%%print,/par/ntrip/caster/table
RE016%% SOURCETABLE 200 OK
RE01C%% Content-Type: text/plain
RE017%% Content-Length: 234
RE004%%
RE050%% STR;NET1;NET1;CMR+;0(1);2;GPS;Moscow;RUS;55.69;37.43;1;1;TopNET-N;none;B;N;;
RE050%% STR;NET3;NET3;CMR+;0(1);2;GPS;Moscow;RUS;55.69;37.43;1;1;TopNET-N;none;B;N;;
RE050%% STR;NETP;NETP;CMR+;0(1);2;GPS;Moscow;RUS;55.69;37.43;1;1;TopNET-N;none;B;N;;
RE012%% ENDSOURCETABLE
RE002%%
Name: /par/ntrip/data
Access: r
Type: list { port, imode }
Description: The list of NTRIP data parameters.
Example:
Name: /par/ntrip/data/port
Access: rw
Type: enumerated
Values: any input port name
Default: /dev/ser/d
Description: NTRIP data port. The data received from NTRIP mountpoint
will be passed to the appropriate decoder as if they were
received from the specified port. The ’imode’ of the
specified port should be set by the user (using
/par/[port]/imode parameter) to match the data format of the
mountpoint.
Name: /par/ntrip/data/imode
Access: r
Type: enumerated
Values: refer to the /par/[port]/imode description
Default: refer to the /par/[port]/imode description
Description: current input mode of the receiver input port that is
selected as NTRIP data port.
Name: /par/ntrip/error
Access: r
Type: string[0..64]
Default: "No errors"
Description: Human readable description of the failure reason if any.
Before starting NTRIP connection the receiver should be configured to receive
corrections data. It’s recommended to use "extrap" RTK mode due to potentially
large delays on the Internet/GPRS.
NTRIP support requires access to an NTRIP server, so either Ethernet or
PPP/GPRS connection should be active for this feature to work.
The parameters below are mostly useful to provide a method for establishing
either GPRS or dialup connection to a provider of Internet services using
point-to-point protocol (PPP).
3. Options.
No changes.
4. Commands.
No changes.
<END>
December 1, 2005
User visible changes in the firmware version 2.5p2 since version 2.5p1.
Highlights.
1. Leap second processing has been corrected.
2. Remote uploading of the firmware via USB and Ethernet in Turbo boards has been improved.
3. The contents of [ZA] and [ZB] messages has been improved.
July 8, 2005
User visible changes in the firmware version 2.5p1 since version 2.5.
Highlights.
1. Fixed bug in PPS in Turbo boards - under some seldom circumstances PPS was
wrong.
2. Turbo boards: a bug that slows down RTK has been fixed.
3. BINEX: more records have been implemented.
4. BINEX: parameters to enable/disable of output of separate fields in 00_00
record have been implemented.
5. BINEX record 00_00: support for more fields has been implemented.
6. BINEX record 00_00: support for turning separate fields on/off has been
implemented.
7. Antenna database has been updated to the latest available from NGS.
8. RTCM 3.0 GPS ephemeris (Type 1019) and RTCM 3.0 GLONASS ephemeris (Type
1020) messages have been added.
9. A proprietary RTCM 3.0 text (Type 4091) message has been implemented.
10. The current values of obsolete options, CDDB, CDDR, RTKB, and RTKR are now
set according to the current values of regular options provided that the
above obsolete options aren’t loaded.
11. The firmware now detects that the board is installed in GB500 or GB1000
receiver and sets /par/rcv/model parameter accordingly.
12. RTCM Message Types 18/19 and 20/21: the sign of clock offset has been
changed. Note: this correction does not affect compatibility with previous
versions of the firmware.
13. Bug outputting wrapped [PM] message has been fixed.
More Detailed Description
(refer to GRIL for even more details)
1. Messages.
1.1 BINEX record 00_00 improvements.
The following new fields have been implemented:
0x04, 0x0f, 0x17, 0x19, 0x1a, 0x1b, 0x1d, 0x1f.
The values for fields 0x04 and 0x0f could be specified using new parameters
’/par/binex/site’ and ’/par/binex/data_id’, respectively.
Capability to turn on/off the output of each of supported fields has been
implemented (refer to ’/par/binex/00_00’ parameter description below).
1.2 New BINEX messages.
The following BINEX messages have been implemented:
/msg/binex/7D_00 - BINEX record 0x7D-00
/msg/binex/7E_00 - BINEX record 0x7E-00
/msg/binex/7F_03 - BINEX record 0x7F-03
/msg/binex/7F_04 - BINEX record 0x7F-04
Meteorological data for BINEX record 0x7E-00 could be obtained by connecting
MET3-compatible sensor to a receiver port, setting the ’imode’ of the port to
’jps’ and enabling output of /msg/misc/MET3 to this port.
For example, to get data every minute (60 seconds) from MET3 sensor working at
9600 baud and connected to the serial port B, the following commands could be
used:
set,/par/dev/ser/b/rate,9600
set,/par/dev/ser/b/imode,jps
em,/dev/ser/b,/msg/misc/MET3:60
1.3 RTCM 3.0 GPS ephemeris and GLONASS ephemeris messages.
The following messages have been added:
/msg/rtcm3/1019 - GPS ephemeris
/msg/rtcm3/1020 - GLONASS ephemeris
These messages include GPS ephemeris and GLONASS ephemeris in accordance with
current RTCM documents. In order to enable the output of these messages
through, e.g., serial port C, use the following command:
em,/dev/ser/c,/msg/rtcm3/{1019,1020}
1.4 RTCM 3.0 proprietary text message.
The following message has been added:
/msg/rtcm3/4091t - proprietary text message
This message provides a possibility to transmit a text message from the base
to the rover receiver. It is a proprietary message, thus the receivers of
other developers cannot use this message. The command that enables the output
of this message is the following:
em,/dev/ser/c,/msg/rtcm3/4091t
2. Parameters.
2.1 BINEX parameters.
The following new parameters have been implemented:
Name: /par/binex
Access: r
Type: list {site, data_id, 00_00}
Description: set of parameters to control BINEX records generation.
Name: /par/binex/site
Access: rw
Type: string[0..127]
Values: arbitrary string
Default: "" (empty string)
Description: the value of this parameter will be output into the 0x04 field
of the /msg/binex/00_00 (BINEX 0x00-00 record).
Name: /par/binex/data_id
Access: rw
Type: string[0..4]
Values: arbitrary string
Default: "" (empty string)
Description: the value of this parameter will be output into the 0x0f field
of the /msg/binex/00_00 (BINEX 0x00-00 record). If the length
of the string is less than 4 characters, the value output to
the 0x0f field will be padded on the right to 4
characters. The padding is performed using spaces.
Name: /par/binex/00_00
Access: r
Type: list {04, 0f, 17, 19, 1a, 1b, 1d, 1f} of boolean
Description: each element of this list reflects the status of output of
corresponding field of /msg/binex/00_00 (BINEX 0x00-00
record). When an element is ’on’, the output of corresponding
field is enabled, when an element is ’off’, the output of
corresponding field is disabled.
Note1: to turn all the fields on or off, use
set,/par/binex/00_00/,on
or
set,/par/binex/00_00/,off
, respectively.
Note2: use separate field parameters described below to control separate
fields.
Name: /par/binex/00_00/04
Access: rw
Type: boolean
Values: on|off
Default: on
Description: enable/disable output of 0x04 field of BINEX record 0x00-00.
Name: /par/binex/00_00/0f
Access: rw
Type: boolean
Values: on|off
Default: on
Description: enable/disable output of 0x0f field of BINEX record 0x00-00.
Name: /par/binex/00_00/17
Access: rw
Type: boolean
Values: on|off
Default: on
Description: enable/disable output of 0x17 field of BINEX record 0x00-00.
Name: /par/binex/00_00/19
Access: rw
Type: boolean
Values: on|off
Default: on
Description: enable/disable output of 0x19 field of BINEX record 0x00-00.
Name: /par/binex/00_00/1a
Access: rw
Type: boolean
Values: on|off
Default: on
Description: enable/disable output of 0x1a field of BINEX record 0x00-00.
Name: /par/binex/00_00/1b
Access: rw
Type: boolean
Values: on|off
Default: on
Description: enable/disable output of 0x1b field of BINEX record 0x00-00.
Name: /par/binex/00_00/1d
Access: rw
Type: boolean
Values: on|off
Default: on
Description: enable/disable output of 0x1d field of BINEX record 0x00-00.
Name: /par/binex/00_00/1f
Access: rw
Type: boolean
Values: on|off
Default: on
Description: enable/disable output of 0x1f field of BINEX record 0x00-00.
2.2 RTCM 3.0 parameters.
Name: /par/rtcm3/base/text
Access: rw
Type: string[0..127]
Values: arbitrary string
Default: "" (empty string)
Description: the value of this parameter will be included into proprietary
RTCM 3.0 text message (Message Type 4091).
2.3 Support for GB500 and GB1000 in /par/rcv/model.
/par/rcv/model parameter could now have two more values, GB500 and GB1000. The
fact of working inside GB500/GB1000 receiver is determined using the value of
/par/rcv/sn parameter that for the above receivers contains their respective
names.
3. Options.
The current values of obsolete options, CDDB, CDDR, RTKB, and RTKR are now set
according to the current values of regular options provided that the above
obsolete options aren’t loaded. It allows for third-party software that checks
status of those obsolete options to work properly when only corresponding new
options are loaded.
4. Commands.
No changes.
<END>
March 4, 2005
User visible changes in the firmware version 2.5 since version 2.4.
Highlights.
1. Support for new Turbo160 (EGGDT) board has been implemented.
2. Support for mmGPS functionality has been added.
3. New options "_NBM" and "OPEN".
4. For Hipers, the threshold for switching to external antenna has been
increased to prevent false switches at high temperatures.
5. Power management for internal devices (modems, etc.) has been improved.
6. New firmware variant, hggdto_2_5, has been added (hggdt with Omnistar
support, similar to hgdo_2_5).
7. New parameter, "/par/rcv/vendor" has been added, receiver/board names for
Javad were changed.
8. Correction has been added to the computation of System 34 grid coordinates.
0. Compatibility Notes.
0.1 "Turbo" boards have different options encryption algorithm.
The consequences are:
- Universal OAF for these boards is different compared to all other boards.
- Users of Hiper Turbo with firmware 2.4x have to get new OAF from Options@topcon.com
and re-download it after firmware upgrade to 2.5 version. They must use PcCdu version 1.2.14b1 or neweer
0.2 Javad’s "Turbo" receivers and boards have different names:
- "HGGDT_X" changed to "MGGDT_X" (board name).
- "HIPER" changed to "MAXOR" (receiver name).
- "LEGACY_E" changed to "PREGO" (receiver name).
- "AT4" changed to "GYRO4" (receiver name).
0.3 The support of System 34 grid coordinates has been removed from HE_GG and
HE_GD boards.
More Detailed Description
(refer to GRIL for even more details)
1. Messages.
1.1 Power parameters.
New parameters: Switch is direct.
Parameter: /par/pwr/swd
Access: rw
Type: array[2..4] of boolean
Values: {n|y,n|y,n|y}
Default: {/par/pwr/swd/2&def,...,/par/pwr/swd/4&def}
Description: Array of "switch is direct" values for each internal slot. See
/par/pwr/swd/N description below.
Parameter: /par/pwr/swd/N (N = 2|3|4)
Access: rw
Type: boolean
Values: n|y
Default: /par/pwr/swd/N&def
Description: Switch is direct indicator. Every internal slot has in fact two
hardware pins. Value ’n’ (default) of this parameter means
that one of these pins is 1 whenever another is 0 (i.e., a pin
has inverse value with respect to another). Value ’y’ means
both pins are either 0 or 1 simultaneously (i.e., a pin has
direct value with respect to another).
Parameter: /par/pwr/swd/N&def (N = 2|3|4)
Access: rw
Type: boolean
Values: n|y
Default: n
Description: The default value for corresponding /par/pwr/swd/N parameter.
New parameters: Parameters to set the default values for /par/pwr/switch,
/par/pwr/ports, and /par/pwr/slots.
Parameter: /par/pwr/switch/N&def (N = 2|3|4)
Access: rw
Type: enumerated
Values: {y|n|always}
Default: y
Description: The default value for corresponding /par/pwr/switch/N
parameter.
Parameter: /par/pwr/ports&def
Access: rw
Type: enumerated
Values: {on|off|always}
Default: on
Description: The default value for corresponding /par/pwr/ports parameter.
Parameter: /par/pwr/slots&def
Access: rw
Type: enumerated
Values: {on|off|always}
Default: on
Description: The default value for corresponding /par/pwr/slots parameter.
1.2 Vendor parameters
Parameter: /par/rcv/vendor
Access: r
Type: enumerated
Values: {Topcon|Javad}
Description: Exists only in Turbo boards.
1.3 Network parameters
Parameter: /par/net/ip/mtu
Access: rw
Type: integer
Values: [128..16384]
Default: 1500
Description: MTU for the Ethernet interface.
Note: this parameter (as well as other /par/net/ip parameters) is not reset to
its default value when NVRAM is cleared.
2. Options.
2.1 New option "_NBM"
Being enabled (1), this option enables the mmGPS mode functionality.
2.2 New option "OPEN"
Being enabled (1), this option enables both "open" (i.e. non-encrypted)
and encrypted GRIL mmGPS commands. Otherwise receiver will accept "set"
commands for all the mmGPS parameters in the encrypted form only.
<END>
Article ID: 6
Created: January 17, 2008
Last Updated: June 19, 2020
Author: Freddy Blume
Online URL: https://kb.unavco.org/article/topcon-gb-1000-receiver-board-firmware-release-history-january-3-2008-6.html