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Contents
1. INTRODUCTION……….…………………………………………………. . 2
1.1 OVERVIEW…………….……………………………………………… 2
1.2 MAIN FEATURES .……………………………………………….…. 2
2. TECHNICAL SPECIFICATIONS……………………………….… ..… . 3
2.1 ELECTRICAL CHARACTERISTICS………………………… ...…… 3
2.2 EVIRONMENTAL CHARACTERISTICS……………………… .…… 4
2.3 PHYSICAL CHARACTERISTICS……………………………… .... 4
3. MECHANICAL DIMENSIONS……………………………………………… 5
3.1 ZX4125……………………….……………………...……………..…… 5
3.2 ZX4125P-4. .………………….…………..…………...………….…… 6
ZX4125P-2. .………………….…………..…………...………….…… 7
4. PIN ASSIGNMENT OF CONNECTOR………………………………………. 8
4.1 SERIAL INTERFACE…………………………… ………………. . 8
4.2 DEBUG INTERFACE………………………………………………. .. 9
5. APPLICATIONS……………………………………………….…………………10
6. OPERATION AND TEST……………….…………………….………………… 10
APPENDIX A: OTHER ELECTRICAL SPECIFICATIONS………….………… 11
APPENDIX B: REFERENCE DESIGN…………………………………..……….. 12
APPENDIX C: SOFTWARE SPECIFICATION…………………………..…… .13
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  • Page 1

    Contents
    1. INTRODUCTION… … … .… … … … … … … … … … … … … … … … … … … .… . 2
    1.1
    OVERVIEW… … … … … .… … … … … … … … … … … … … … … … … … 2
    1.2
    MAIN FEATURES… .… … … … … … … … … … … … … … … … … … .… . 2
    2. TECHNICAL SPECIFICATIONS… … … … … … … … … … … … .… .… .… … . 3
    2.1
    ELECTRICAL CHARACTERISTICS… … … … … … … … … … … ...… … 3
    2.2
    EVIRONMENTAL CHARACTERISTICS… … … … … … … … … … .… … 4
    2.3
    PHYSICAL CHARACTERISTICS… … … … … … … … … … … … … ..… .. 4
    3. MECHANICAL DIMENSIONS… … … … … … … …
    3.1
    ZX4125… … … … … … … … … .… … … … … …
    3.2
    ZX4125P-4.… .… … … … … … … .… … … … ..…
    ZX4125P-2.… .… … … … … … … .… … … … ..…











    … … … … … … … …
    ...… … … … … ..… …
    … ...… … … … .… …
    … ...… … … … .… …

    5
    5
    6
    7

    4. PIN ASSIGNMENT OF CONNECTOR… … … … … … … … … … … … … … … . 8
    4.1
    SERIAL INTERFACE… … … … … … … … … … … … … … … … … … .… … . 8
    4.2
    DEBUG INTERFACE… … … … … … … … … … … … … … … … … … .… … .. 9
    5. APPLICATIONS… … … … … … … … … … … … … … … … … … .… … … … … … … 10
    6. OPERATION AND TEST… … … … … … .… … … … … … … … .… … … … … … … 10
    APPENDIX A: OTHER ELECTRICAL SPECIFICATIONS… … … … .… … … … 11
    APPENDIX B: REFERENCE DESIGN… … … … … … … … … … … … … ..… … … .. 12
    APPENDIX C: SOFTWARE SPECIFICATION… … … … … … … … … … ..… … … .13



  • Page 2

    1. Introduction
    1.1. Overview
    GPS module ZX4125/ZX4125P (patch on top) is a high sensitivity ultra low
    power consumption cost efficient, compact size; plug & play GPS module board
    designed for a broad spectrum of OEM system applications. The GPS module
    receiver will track up to 16 satellites at a time while providing fast time-to-first-fix
    and 1Hz navigation updates. Its far reaching capability meets the sensitivity &
    accuracy requirements of car navigation as well as other location-based applications,
    such as AVL system. Handheld navigator, PDA, pocket PC, or any battery operated
    navigation system.
    The ZX4125/ZX4125P design utilizes the latest surface mount technology and
    high level circuit integration to achieve superior performance while minimizing
    dimension and power consumption. This hardware capability combined with software
    intelligence makes the board easy to be integrated and used in all kinds of navigation
    applications or products. The module communicates with application system via
    RS232 (TTL level) with NMEA0183 protocol.

    1.2. Main Feature
    l
    l
    l
    l
    l
    l
    l

    l
    l
    l
    l
    l
    l

    Built-in high performance NEMERIX chipset.
    Average Cold Start in 60 seconds.
    Ultra Low power consumption.( ZX4125 27mA typ @ 3.3V )
    16 channels “All-in-View” tracking.
    On chip 4Mb flash memory.
    TTL level serial port for GPS receiver command message Interface.
    Compact Board Size
    ZX4125
    1.043”x1.043”x0.11”(26.5x26.5x3.0mm)
    ZX4125P-4
    1.043”x1.043”x0.34” (26.5x26.5x8.7mm)
    ZX4125P-2
    1.043”x1.043”x0.26” (26.5x26.5x6.7mm)
    For easy integration into hand-held device.
    Support Standard NMEA-0183 V3.0
    Option Accurate 1PPS Output Signal Aligned with GPS Timing
    Multi-path Mitigation Hardware
    Optimum clock drift adjustment
    External antenna open/short detector
    Support dual antenna with built-in auto-detect RF switch (ZX4125P)
    2



  • Page 3

    2. Technical Specifications
    2.1. Electrical Characteristics
    2.1.1 General
    Frequency
    C/A code
    Channels

    L1, 1575.42 MHz
    1.023 MHz chip rate
    16

    2.1.2 Sensitivity
    Tracking
    Acquisition

    -152dBm typ
    -139dBm typ

    2.1.3 Accuracy
    Position
    Velocity
    Time

    7 meters CEP (90%) horizontal, SA off.
    0.1 meters/second
    1 microsecond synchronized to GPS time

    2.1.4 Datum
    Default
    Other

    WGS-84
    Support different datum by request

    2.1.5 Acquisition Rate (Open sky, stationary requirements)
    Hot start
    12 sec, average
    Warm start
    38 sec, average
    Cold start
    60 sec, average
    2.1.6 Dynamic Conditions
    Altitude
    Horizontal Velocity
    Vertical Velocity
    Acceleration
    Jerk

    10,000 meters max
    300 kilometers/hour max
    36 kilometers/hour max
    2g, max

    2.1.7 Power
    Main power input
    Supply Current

    3.3 ±5% VDC input.

    4 meters/second3, max

    ZX4125 27 mA @ 3.3V(Continuous mode)
    ZX4125P 33 mA @ 3.3V (Continuous mode) including LNA

    3



  • Page 4

    2.1.8 Serial Port
    Electrical interface
    Protocol message
    Default NMEA

    one full duplex serial communication, TTL interface
    NMEA-0183, version 3.0 optional.
    GGA, GSA, GSV, RMC and VTC. 9600 baud rate,
    8 bits data, 1 start, 1 stop, no parity.
    (GSA & GSV is 3sec output 1msg, option baud rate:
    4800,19200, 38400)

    2.1.9 Time-1PPS Pulse (optional)
    Level
    TTL
    Pulse duration
    100ms
    Time reference
    at the pulse positive edge
    Measurements
    Aligned to GPS second, +-1 microsecond
    2.1.10 Recommended External Antenna Specification
    Gain
    20dB (including cable loss)
    Noise figure
    1.5dB
    Current
    3 ~ 30mA
    Operate Voltage
    2.5 ~ 2.8V
    2.2. Environmental Characteristics
    Operating temperature range
    Storage temperature range

    -40 deg. C to +80 deg. C
    -55 deg. C to +100 deg .C

    2.3. Physical Characteristics
    Dimension: ZX4125
    1.043”x1.043”x0.11” (26.5x26.5x3.0mm)
    ZX4125P-4 1.043”x1.043”x0.34” (26.5x26.5x8.7mm)
    (With TH: 4mm patch antenna)
    ZX4125P-2 1.043”x1.043”x0.26” (26.5x26.5x6.7mm)
    (With TH: 2mm patch antenna)
    Weight:
    ZX4125
    3.8g
    ZX4125P-4
    15g
    ZX4125P-2
    10.4g
    Antenna connector: 1.27 mm pitch 3 pin board to board
    Interface connector: 1.27 mm pitch 10 pin / 6 pin board to board
    Remarks: Difference between ZX4125 & ZX4125P.
    ZX4125: one rf input with antenna detector.
    (Use Active antenna only)
    ZX4125P: two rf input with auto switch.
    (One patch antenna, one external antenna)
    4



  • Page 5

    Mechanical Dimensions
    3.1. ZX4125

    Pin 1
    Pin 11
    Pin 17

    Pin 1

    Pin 17
    Pin 11

    Pin
    1
    2
    3
    4
    5
    6
    7
    8
    9
    10

    Name
    GPIO [4]
    NC (MODE)
    NMEA TX
    NMEA RX
    NC(WAKE UP)
    Reset
    VBAT
    GND
    VDD
    GPIO [0]

    Pin
    11
    12
    13
    14
    15
    16
    17
    18
    19

    Name
    DSUMUX
    DSUEN
    DSUBRE
    DSUTX
    DSURX
    DSUACT
    RF GND
    RF IN
    RF GND

    *Pin Assignment please refers to the Table 3-1.

    5



  • Page 6

    3.2. ZX4125P-4

    Pin 1
    Pin 17

    Pin
    1
    2
    3
    4
    5
    6
    7
    8
    9
    10

    Pin 11

    Name
    GPIO [4]
    NC (MODE)
    NMEA TX
    NMEA RX
    NC(WAKE UP)
    Reset
    VBAT
    GND
    VDD
    GPIO [0]

    Pin
    11
    12
    13
    14
    15
    16
    17
    18
    19

    Name
    DSUMUX
    DSUEN
    DSUBRE
    DSUTX
    DSURX
    DSUACT
    RF GND
    RF IN
    RF GND

    *Pin Assignment please refers to the Table 3-1.

    6



  • Page 7

    ZX4125P-2

    Pin 1
    Pin 11
    Pin 17

    Pin
    1
    2
    3
    4
    5
    6
    7
    8
    9
    10

    Name
    GPIO [4]
    NC (MODE)
    NMEA TX
    NMEA RX
    NC(WAKE UP)
    Reset
    VBAT
    GND
    VDD
    GPIO [0]

    Pin
    11
    12
    13
    14
    15
    16
    17
    18
    19

    Name
    DSUMUX
    DSUEN
    DSUBRE
    DSUTX
    DSURX
    DSUACT
    RF GND
    RF IN
    RF GND

    *Pin Assignment please refers to the Table 3-1.

    7



  • Page 8

    3. Pin Assignment of Connector
    3.1. Serial Interface
    Communication to the ZX4125 is provided via a serial interface. A 10-pin
    1.27mm whole connector is used. The pin out is shown in Table 4-1.
    Pin 6 (Reset) is the active-low reset input. The ZX4125 always requires a reset at
    power-up, or it will not start properly. An optional onboard reset circuit can be
    provided. A reset forces the ZX4125 processor to reboot, but will not influence other
    parameters such as hot or cold start. Pin 1 (GPIO [4]) and pin 10 (GPIO [0]) are
    spare pins that can be used e.g. to control power modes, to indicate ZX4125 status, or
    to force a cold start. They can be left unconnected if desired.
    I/O voltage level is set to 2.7V.

    Pin
    1
    2
    3
    4
    5
    6
    7
    8
    9
    10

    Table 3-1 Pin list of the Serial Interface
    Name
    Type Description
    GPIO [4]
    I/O
    GPS Status
    NC (MODE)
    NU
    Reserved, keep float
    NMEA TX
    I/O
    NMEA Serial Data Output
    NMEA RX
    I/O
    NMEA Serial Data Input
    NC (WAKEUP)
    NU
    Reserved, keep float
    Reset
    I
    Low Active, keep float if not use *1
    VBAT
    I
    Backup Battery Input (1.2~2V)
    GND
    PWR Ground
    VDD
    PWR +3.0~3.6V DC Power Input
    GPIO [0]
    I/O
    SW dependent functions

    *1: Max voltage is DC 2V.

    8



  • Page 9

    3.2. Debug Interface
    A dedicated pin out (in form of test points) is provided on the board to give the
    possibility to connect the ZX4125 debug unit. The debug port is intended to be used
    only during the development stage and to download the firmware at factor setup. It is
    not meant to be used by the customers unless they want to develop or modify the SW
    of the ZX4125 module.
    The debug port includes the signals required by the debug system unit (DSU). A
    companion DSU interface board has been already developed.

    Pin
    1
    2
    3
    4
    5
    6

    Table 3-2 Pin list of the Debug Interface
    Name
    Type Description
    DSUMUX
    I
    Serial / DSU select
    DSUEN
    I
    DSU enable
    DSUBRE
    I
    DSU break enable
    DSUTX
    O
    DSU transmitter
    DSURX
    I
    DSU receiver
    DSUACT
    O
    DSU active

    9



  • Page 10

    4. Applications
    ZX4125 module board receiver is a high performance, ultra low power
    consumption, plug &play product. These applications are as follow.
    l Car Navigation
    l Wrist Watch
    l Solar Operated Device
    l Marine Navigation
    l Fleet Management
    l AVL and Location-Based Services
    l Radar detector with GPS function
    l Hand-Held Device for Personal Positioning and Navigation
    l Ideal for PAD, Pocket PC and Other Computing Devices at GPS Application

    5. Operation and Test
    The customers can change the data protocol and communication data baud rate
    for your application using this software. The software and manual are available for
    download from website.

    10



  • Page 11

    Appendix A: Other Electrical Specifications
    Table A-1 Absolute Maximum Ratings
    Parameter
    Symbol
    Min
    Power Supply Voltage
    VDD
    -0.3
    Input Pin Voltage
    VIN
    -0.3
    Output Pin Voltage
    VOUT
    -0.3
    Reset Pin Voltage
    Vreset
    -0.3
    Storage Temperature
    TSTG
    -40
    Back-up Voltage
    BAT
    Table A-2 Operating Conditions
    Parameter
    Symbol
    Min
    Typ
    Power Supply Voltage
    VDD
    3
    3.3
    Input Pin Voltage
    VIN
    2.7
    3
    Operating Temperature
    TOPR
    -40
    Operating Current ZX4125
    ICC
    27
    Operating Current ZX4125P
    ICC
    30
    Table A-3 Backup Battery Conditions
    Parameter
    Symbol
    Min
    Typ
    RTC(Battery) Power
    BAT
    1.2
    1.8
    Supply Current
    10

    Parameter
    Input High Level
    Input Low Level
    Output High Level
    Output Low Level
    Input Leakage Current

    Table A-4 DC Characteristics
    Symbol
    Min
    Vih
    2.5
    Vil
    0
    Voh
    2.4
    Vol
    0
    li
    2

    11

    Max
    3.6
    3.3
    3
    2.0
    100
    2.2

    Units
    V
    V
    V
    V
    °C
    V

    Max
    3.6
    3.3
    85

    Units
    V
    V
    °C
    mA
    mA

    Max
    2

    Units
    V
    µA

    Max
    3.5
    0.8
    3.4
    0.4
    2

    Units
    V
    V
    V
    V
    µA



  • Page 12

    Appendix B: Reference Design

    12



  • Page 13

    Appendix C: Software Specification
    ZX4125 NMEA Protocol
    The ZX4125 software is capable of supporting the following NMEA message formats
    NMEA Message Prefix

    Format

    Direction

    SGPGGA(1)*

    GPS fix data.

    Out

    SGPGLL

    Geographic position Latitude / Longitude.

    Out

    SGPGSA(3)*

    GNSS DOP and actives satellites

    Out

    SGPGSV(3)*

    Satellites in view.

    Out

    SGPRMC(1)*

    Recommended minimum specific GNSS data.

    Out

    SGPVTG(1)*

    Velocity and track over ground.

    Out

    SGPZDA

    Date and time.

    Out

    *: (1): 1sec output 1msg , (3): 3sec output 1msg , 9600 baud rate (Standard output)

    ZX4125 NMEA Extensions
    The ZX4125 software is capable of supporting the following NMEA extensions:
    NMEA Message Prefix

    Format

    Direction

    $PNMRX100

    Set serial port parameters.

    In

    $PNMRX101

    Navigation initialization

    In

    $PNMRX103

    NMEA message rate control

    In

    $PNMRX104

    LLA navigation initialization

    In

    $PNMRX106

    Set Datum.

    In

    $PNMRX107

    NemeriX messages rate control

    In

    $PNMRX108

    NMEA message sequence control

    In

    $PNMRX110

    Fix Settings

    In

    $PNMRX111

    Software Reset

    In

    $PNMRX112

    Operating Mode Control

    In

    $PNMRX113

    Fix and Extraction control

    In

    $PNMRX300

    Almanac data transfer

    In / Out

    $PNMRX301

    Ephemeris data transfer.

    Out

    $PNMRX302

    Ionospheric correction

    Out

    $PNMRX303

    UTC Time

    Out

    $PNMRX304

    GPS Constellation Health Status

    Out

    $PNMRX600

    SW Version report

    Out

    $PNMRX601

    ISP mode

    In

    $PNMRX602

    Flash content version report

    Out

    $PNMRX603

    Settings Report

    Out

    13



  • Page 14

    General NMEA Format
    The general NMEA format consists of an ASCII string commencing with a ‘$’ character and
    terminating with a <CR><LF> sequence. NMEA standard messages commence with ‘GP’ then a
    3-letter message identifier. NemeriX specific messages commence with $PNMRX followed by a 3
    digit number. The message header is followed by a comma delimited list of fields optionally
    terminated with a checksum consisting of an asterix ‘*’ and a 2 digit hex value representing the
    checksum. There is no comma preceding the checksum field. When present, the checksum is
    calculated as a bitwise exclusive of the characters between the ‘$’ and ‘*’. As an ASCII
    representation, the number of digits in each number will vary depending on the number and
    precision, hence the record length will vary. Certain fields may be omitted if they are not used, in
    which case the field position is reserved using commas to ensure correct interpretation of
    subsequent fields.
    The tables below indicate the maximum and minimum widths of the fields to allow for buffer
    size allocation.

    $GPGGA
    This message transfers global positioning system fix data. The $GPGGA message structure is
    shown below:
    Field

    Format

    Min chars

    Max chars

    Notes

    Message ID

    $GPGGA

    6

    6

    GGA protocol header.

    UTC Time

    hhmmss.sss

    2,2,2.3

    2,2,2.3

    Fix time to 1ms accuracy.

    Latitude

    float

    3,2.4

    3,2.4

    Degrees * 100 + minutes.

    N/S Indicator

    char

    1

    1

    N=north or S=south

    Longitude

    float

    3,2.4

    3,2.4

    Degree * 100 + minutes.

    E/W

    Char

    1

    1

    E=east or W=west

    Int

    1

    1

    0: Fix not available or invalid.

    indicator
    Position Fix
    Indictor
    Satellites

    1: GPS SPS mode. Fix available.
    Int

    2

    2

    Number of satellites used to calculate fix.

    HDOP

    Float

    1.1

    3.1

    Horizontal Dilution of Precision.

    MSL Altitude

    Float

    1.1

    5.1

    Altitude above mean seal level

    Units

    Char

    1

    1

    M Stands for “meters”.

    Geoid

    Int

    (0) 1

    4

    Separation from Geoids can be blank.

    Units

    Char

    1

    1

    M Stands for “meters”.

    Age of

    int

    (0) 1

    5

    Age in seconds Blank (Null) fields when DGPS is not

    Used

    Separation

    Differential

    used.
    14



  • Page 15

    Corrections
    Diff

    int

    4

    4

    0000.

    Checksum

    *xx

    (0) 3

    3

    2 digits.

    Message

    <CR> <LF>

    2

    2

    ASCII 13, ASCII 10.

    Reference
    Corrections

    terminator

    $GPGLL
    This message transfers Geographic position, Latitude, Longitude, and time. The $GPGLL
    message structure is shown below:
    Field

    Format

    Min chars

    Max chars

    Notes

    Message ID

    $GPGLL

    6

    6

    GLL protocol header.

    Latitude

    Float

    1,2.1

    3,2.4

    Degree * 100 + minutes.

    N/S Indicator

    Char

    1

    1

    N=north or S=south.

    Longitude

    Float

    1,2.1

    3,2.4

    Degree * 100 + minutes.

    E/W indicator

    Character

    1

    1

    E=east or W=west.

    UTC Time

    hhmmss.sss

    1,2,2.1

    2,2,2.3

    Fix time to 1ms accuracy.

    Status

    Char

    1

    1

    A Data Valid.
    V

    Data invalid.
    Autonomous

    Mode Indicator

    Char

    1

    1

    A

    Checksum

    *xx

    (0) 3

    3

    2 digits.

    Message terminator

    <CR><LF>

    2

    2

    ASCII 13, ASCII 10.

    15



  • Page 16

    $GPGSA
    This message transfers DOP and active satellites information. The $GPGSA message structure
    is shown below:
    Field

    Format

    Min chars

    Max chars

    Notes

    Message ID

    $GPGSA

    6

    6

    GSA protocol header.

    Mode

    Char

    1

    1

    M

    Manual, forced to operate in selected mode.

    An Automatic switching between modes.
    Mode

    Int

    1

    1

    1

    Fix not available.

    2

    2D position fix.

    3

    3D position fix.

    Satellites Used

    Int

    2

    2

    SV on channel 1.

    Satellites Used

    Int

    2

    2

    SV on channel 2.



    .

    ..

    ..

    ..

    Satellites Used

    Int

    2

    2

    SV on channel 12.

    PDOP

    Float

    1.1

    3.1

    HDOP

    Float

    1.1

    3.1

    VDOP

    Float

    1.1

    3.1

    Checksum

    *xx

    0

    3

    2 digits

    Message terminator

    <CR> <LF>

    2

    2

    ASCII 13, ASCII 10

    16



  • Page 17

    $GPGSV
    This message transfers information about satellites in view. The $GPGSV message structure is
    shown below. Each record contains the information for up to 4 channels, allowing up to 12
    satellites in view. In the final record of the sequence the unused channel fields are left blank with
    commas to indicate that a field has been omitted.
    Field

    Format

    Min chars

    Max chars

    Notes

    Message ID

    $GPGSV

    6

    6

    GSA protocol header.

    Number of messages

    Int

    1

    1

    Number of messages in the message sequence
    from 1 to 3.

    Message number

    Int

    1

    1

    Sequence number of this message in current
    sequence, form 1 to 3.

    Satellites in view

    Int

    1

    2

    Number of satellites currently in view.

    Satellite Id

    Int

    2

    2

    Satellite vehicle 1.

    Elevation

    Int

    1

    3

    Elevation of satellite in degrees.

    Azimuth

    Int

    1

    3

    Azimuth of satellite in degrees.

    SNR

    Int

    (0) 1

    2

    Signal to noise ration in dBHz, null if the sv is not
    in tracking.

    Satellite Id

    Int

    2

    2

    Satellite vehicle 2.

    Elevation

    Int

    1

    3

    Elevation of satellite in degrees.

    Azimuth

    Int

    1

    3

    Azimuth of satellite in degrees.

    SNR

    Int

    (0) 1

    2

    Signal to noise ration in dBHz, null if the sv is not
    in tracking.

    Satellite Id

    Int

    2

    2

    Satellite vehicle 3.

    Elevation

    Int

    1

    3

    Elevation of satellite in degrees.

    Azimuth

    Int

    1

    3

    Azimuth of satellite in degrees.

    SNR

    Int

    (0) 1

    2

    Signal to noise ration in dBHz, null if the sv is not
    in tracking.

    Satellite Id

    Int

    2

    2

    Satellite vehicle 4.

    Elevation

    Int

    1

    3

    Elevation of satellite in degrees.

    Azimuth

    Int

    1

    3

    Azimuth of satellite in degrees.

    SNR

    Int

    (0) 1

    2

    Signal to noise ration in dBHz, null if the sv is not
    in tracking.

    Checksum

    *xx

    (0) 3

    3

    2 digits.

    Message terminator

    <CR> <LF>

    2

    2

    ASCII 13, ASCII 10.

    17



  • Page 18

    $GPRMC
    This message transfers recommended minimum specific GNSS data. The $GPRMC message
    format is shown below.
    Field

    Format

    Min chars

    Max chars

    Notes

    Message ID

    $GPRMC

    6

    6

    RMC protocol header.

    UTC Time

    hhmmss.sss

    1,2,2.1

    2,2,2.3

    Fix time to 1ms accuracy.

    Status

    char

    1

    1

    A Data Valid.
    V

    Data invalid.

    Latitude

    Float

    1,2.1

    3,2.4

    Degrees * 100 + minutes.

    N/S Indicator

    Char

    1

    1

    N=north or S=south.

    Longitude

    Float

    1,2.1

    3,2.4

    Degrees * 100 + minutes.

    E/W indicator

    Char

    1

    1

    E=east or W=west.

    Speed over ground

    Float

    1,1

    5.3

    Speed over ground in knots.

    Course over ground

    Float

    1.1

    3.2

    Course over ground in degrees.

    Date

    ddmmyy

    2,2,2

    2,2,2

    Current date.

    Magnetic variation

    Blank

    (0)

    (0)

    Not used.

    E/W indicator

    Blank

    (0)

    (0)

    Not used.

    Mode

    Char

    1

    1

    A

    Checksum

    *xx

    (0) 3

    3

    2 digits.

    Message terminator

    <CR> <LF>

    2

    2

    ASCII 13, ASCII 10.

    18

    Autonomous



  • Page 19

    $GPVTG
    This message transfers Velocity, course over ground, and ground speed. The $GPVTG message
    format is shown below.
    Field

    Format

    Min chars

    Max chars

    Notes

    Message ID

    $GPVTG

    6

    6

    VTG protocol header.

    Course (true)

    Float

    1.1

    3.2

    Measured heading in degrees.

    Reference

    Char

    1

    1

    T = true heading.

    Course (magnetic)

    Float

    1.1

    3.2

    Measured heading (blank).

    Reference

    Char

    1

    1

    M = magnetic heading.

    Speed

    Float

    1.1

    4.2

    Speed in knots.

    Units

    Char

    1

    1

    N = knots.

    Speed

    Float

    1.1

    4.2

    Speed

    units

    Char

    1

    1

    K = Km/h.

    Mode

    Char

    1

    1

    A

    Checksum

    *xx

    (0) 3

    3

    2 digits.

    Message terminator

    <CR> <LF>

    2

    2

    ASCII 13, ASCII 10.

    19

    Autonomous



  • Page 20

    $GPZDA
    This message transfers UTC Time and Date. Since the latency of preparing and transferring the
    message is variable, and the time does not refer to a particular position fix, the second precision is
    reduced to 2 decimal places. The $GPZGA message format is shown below.
    Field

    Format

    Min chars

    Max chars

    Notes

    Message ID

    $GPZDA

    6

    6

    ZDA protocol header.

    UTC time

    hhmmss

    2,2,2.2

    2,2,2.2

    00000000.00 to 235959.99

    UTC day

    dd

    2

    2

    01 to 31, day of month.

    UTC month

    mm

    2

    2

    01 to 12.

    UTC Year

    yyyy

    4

    4

    1989-9999.

    Local zone hours

    Int

    (-)2

    (-)2

    Offset of local time zone (-13) to 13.

    Local zone minutes

    Unsigned

    2

    2

    Checksum

    *xx

    (0) 3

    3

    2 digits.

    Message terminator

    <CR> <LF>

    2

    2

    ASCII 13, ASCII 10.

    .ss

    Extensions Specification
    For all $PNMRX messages it is possible to configure an alternative string to replace the NMRX
    part, the node always responds to the $PNMRX strings and can be configured to generate and
    respond to the alternative string.

    $PNMRX100, Set serial port mode
    This message is sent to control the serial communications port parameters. The $PNMRX100
    message format is shown below.
    Field

    Format

    Min chars

    Max chars

    Notes

    Message ID

    $PNMRX100

    6

    6

    PNMRX100 protocol header.

    Protocol

    Char

    1

    1

    0

    NMEA mode

    1

    NemeriX Binary Mode (under dev)

    Baud

    Int

    4

    6

    1200.
    2400.
    4800.
    9600.
    19200.
    38400.
    57600.

    Parity

    Char

    1

    1

    0.

    None.

    1.

    Odd.

    2.

    Even.

    Checksum

    *xx

    (0) 3

    3

    2 digits.

    Message terminator

    <CR> <LF>

    2

    2

    ASCII 13, ASCII 10.
    20



  • Page 21

    Examples:
    $PNMRX100,0,4800,0*xx: sets the UART baud rate to 4800 bps and no parity.

    $PNMRX101, Navigation Initialization
    This message is sent to initialize navigation parameters to speed up initial acquisition time. The
    $PNMRX101 message format is shown below.
    Field

    Format

    Min chars

    Max chars

    Notes

    Message ID

    $PNMRX101

    6

    8

    PNMRX101 protocol header.

    ECEF_X

    Int

    (-)7

    (-)7

    Signed ECEF x co-ordinate in meters

    ECEF_Y

    Int

    (-)7

    (-)7

    Signed ECEF y co-ordinate in meters

    ECEF_Z

    Int

    (-)7

    (-)7

    Signed ECEF z co-ordinate in meters

    Clock offset

    Int

    (0) 1

    6

    Clock offset of GPS receiver, in [Hz x 100] wrt L1.
    This changes the clock bias stored in the settings not
    the actual clock bias used by the system. A cold start is
    necessary, in order to use this value.

    Time of week

    Int

    1

    6

    Offset from start of week in seconds

    Week number

    Int

    1

    4

    GPS week number

    Channel count

    Int

    1

    2

    Maximum number of TM to be used. Min 12, max 16.

    Checksum

    *xx

    (0) 3

    3

    2 digits.

    Message terminator

    <CR> <LF>

    2

    2

    ASCII 13, ASCII 10.

    -

    If used, all three X,Y, and Z components of the ECEF position must be provided,
    otherwise the message is declared invalid as a whole
    Modifying the ECEF coordinates triggers a software system reset after successful
    execution of the message

    Examples:
    $PNMRX101,,,,,,,,8,*xx:
    Executes a factory reset
    $PNMRX101,-742507,-5462738, 3196706,*xx: Sets the receiver position to ECEF (,) and executes a
    $PNMRX101, 4,*xx:

    software reset
    Sets the fix procedure mode the cold start. This
    will be valid after each reset, until this value is
    changed.

    21



  • Page 22

    $PNMRX103, NMEA rate control
    This message is being sent to enable or to disable the output of an NMEA message and to
    determine its output rate. The sequence of the output sequence is determined by the $PNMRX107
    message. The $PNMRX103 message format is shown below. The rate of each message can
    individually be set. If ‘0’ is used, the output of the message is skipped (according to the message
    sequence). The message length is limited to 80 characters, in the event that the message length
    would exceed 80 characters it is divided into 2 messages. This message is supported also in a
    variable length format, where only the necessary fields are used.
    Field

    Format

    Min chars

    Max chars

    Notes

    Message ID

    $PNMRX103

    8

    8

    PNMRX103 protocol header.

    Mask ID

    Int

    3

    3

    Mask identifier: possibilities are
    GGA
    GLL
    GSA
    GSV
    RMC
    VTG
    ZDA
    ALL (applies to all messages)

    Mask value

    Int

    1

    1

    Output rate in seconds (0=paused)

    Mask ID

    Int

    2

    2

    Mask identifier.

    Checksum

    *xx

    (0) 3

    3

    2 digits.

    Message terminator

    <CR> <LF>

    2

    2

    ASCII 13, ASCII 10.

    Examples:
    $PNMRX103, GSV, 2,GGA, 1,ZDA, 0*xx: GSV is output every 2s,GGA every 1s and ZDA is
    skipped.
    $PNMRX103, GSV, 2, GGA, 1, ZDA, 0,*xx: same as above, but using a fixed length message
    $PNMRX103, ALL, 2*xx: all messages are output every 2s.
    $PNMRX103, ALL, 0*xx: skips all messages.

    22



  • Page 23

    $PNMRX104, LLA navigation initialization
    This message enables the receiver to be initialized using LLA data to speed up satellite
    acquisition. The first 4 values defining the position (if used) must be all present in the message.
    Otherwise the whole massage is considered invalid.
    Field

    Format

    Min chars

    Max chars

    Notes

    Message ID

    $PNMRX104

    8

    8

    PNMRX104 protocol header. (Under dev.)

    Latitude

    Float

    1,2.1

    3,2.4

    Degrees * 100 + minutes. (Under dev.)

    N/S Indicator

    Char

    1

    1

    N=north or S=south. (Under dev.)

    Latitude

    Float

    1,2.1

    3,2.4

    Degrees * 100 + minutes. (Under dev.)

    E/W Indicator

    Char

    1

    1

    E=east or W=west. (Under dev.)

    Altitude

    Int

    (-) 1

    (-) 6

    Altitude above MSL, in meters.

    Clock offset

    Int

    (0) 1

    6

    Clock offset of GPS receiver. These changes the clock
    bias stored in the settings, not the actual clock bias
    used by the system. A cold start is necessary, in order
    to use this value.

    Time of week

    Int

    1

    6

    Offset from start of week in seconds. (Under dev.)

    Week number

    Int

    1

    4

    GPS week number.

    Channel count

    Int

    1

    2

    Maximum number of TM to be used. Min12, max 16.

    Checksum

    *xx

    (0) 3

    3

    2 digits.

    Message terminator

    <CR> <LF>

    2

    2

    ASCII 13, ASCII 10.

    -

    If used, all five components (Lat, N/S, Long E/W, alt) of the LLA position must be
    provided, otherwise the message is declared invalid as a whole
    Modifying the LLA coordinates triggers a software system reset after successful
    execution of the message.

    23



  • Page 24

    $PNMRX106, Datum
    This message defines the conversion model used for mapping the ECEF coordinates into the
    LLA ones. The default transformation uses WGS84 approximation. The transformation method can
    be changed into one using a reference Ellipsoid combined with a local datum, to obtain a specific
    estimation of the local earth geometry. Once the datum has been changed it will be applied to all
    LLA data, including the LLA navigation initialization Data. This message enables the receiver to be
    configured to use map datum from an internal table, or datum supplied as part of the message.
    Field

    Format

    Min chars

    Max chars

    Notes

    Message ID

    $PNMRX106

    6

    8

    PNMRX106 protocol header.

    Correction Mode

    Unsigned

    1

    1

    If 1 apply EGM96 geoids correction (warning: should
    be applied only when Map Datum is equal to 216). If
    0 there is no EGM96 geoids correction.

    Map Datum

    Int

    (0) 1

    3

    Reference number of the appropriate map datum to
    apply.
    0-218

    Map datum from internal table

    500

    User defined Datum

    Dx

    Int

    (0) (-)1

    (-)5

    X offset in meters (-9999 to 9999)

    Dy

    Int

    (0) (-)1

    (-)5

    Y offset in meters (-9999 to 9999)

    Dz

    Int

    (0) (-)1

    (-)5

    Z offset in meters (-9999 to 9999)

    Iflat

    Int

    (0) 1

    8

    Inverse flatness of reference geode. The value to be
    used is (IFlat – 290) * 1000000).
    The value must be in the range [6000000, 12000000]

    Majora

    Int

    (0) 1

    8

    Semi major axis of reference geode. The values to be
    used is (MajorA – 6370000) * 1000).
    The value must be in the range [6000000, 9000000]

    Checksum

    *xx

    (0) 3

    3

    2 digits.

    Message terminator

    <CR> <LF>

    2

    2

    ASCII 13, ASCII 10.

    Examples:
    $PNMRX106, 0,500, -2000,-2000,-2000, 8257224, 8137000*00*xx: User defined Datum
    $PNMRX106, 1, 216,*xx:
    WGS 84 Datum

    24



  • Page 25

    $PNMRX107, Messages rate control
    This message is sent to set the automatic update rate, and to configure which messages will be
    automatically output, it is also sent from the node to report which messages are currently
    configured for automatic transmission. The $PNMRX107 message format is shown below. This
    message can be used to enable and disable multiple messages by including up to 4 message codes
    and associated fields in each $PNMRX107 message.
    The message length is limited to 80 characters, in the event that the message length would
    exceed 80 characters it is divided into 2 messages. This message is supported also in a variable
    length format, where only the necessary fields are used.
    Field

    Format

    Min chars

    Max chars

    Notes

    Message ID

    $PNMRX107

    8

    8

    PNMRX107 protocol header.

    Message code

    Char

    3

    3

    Determines which message is being configured.
    300 PNMRX300 Almanac Data
    301 PNMRX301 Ephemeris Data
    302 PNMRX302 lonospheric corrections
    303 PNMRX303 UTC Time
    304 PNMRX304 GPS constellation health
    ALL Applies to all messages

    Mode

    Int

    1

    1

    0

    Disable message

    1

    Send message now

    2

    Send message on change

    3

    Send message now and on change

    Checksum

    *xx

    (0) 3

    3

    2 digits.

    Message terminator

    <CR> <LF>

    2

    2

    ASCII 13, ASCII 10.

    Examples:
    $PNMRX107, 300, 1*xx: Output the almanac stored in NVRAM
    $PNMRX107, 301, 2*xx: Output Ephemeris will be output on change
    $PNMRX107, ALL, 2*xx: Output all ZX4125 output messages (300,301,302,303,304)

    25



  • Page 26

    $PNMRX108, NMEA message sequence
    This message is used to set the sequence used to output the NMEA messages. All messages in
    the list are set to be output with a default output rate. The messages that are not included are
    disabled. Once the sequence is defined, individual settings for the messages can be changed by
    means of the $PNMRX103 message. This message is supported also in a variable length format,
    where only the necessary fields are used.
    Field

    Format

    Min chars

    Max chars

    Notes

    Message ID

    $PNMRX108

    6

    8

    PNMRX108 protocol header.

    Mask ID

    Int

    3

    3

    Mask identifier: possibilities are
    GGA
    GLL
    GSA
    GSV
    RMC
    VTG
    ZDA

    Mask ID

    Int

    3

    3

    Mask Identifier.

    Checksum

    *xx

    (0) 3

    3

    2 digits.

    Message terminator

    <CR> <LF>

    2

    2

    ASCII 13, ASCII 10.

    Examples:
    $PNMRX108, GGA, GLL, and GSA*xx: Enables the GGA, GLL and GSA in this sequence,
    output
    Every second. All other messages are disabled

    26



  • Page 27

    $PNMRX110, Fix Settings
    This message is used to set various settings and masks which control how the software will
    behave in relationship to the satellites in view, for example a mask can be set for the minimum
    satellite elevation, minimum SNR etc. The message consists of a varying number of fields
    depending on the number of masks to be set. Each mask setting consists if a mask identifier and
    new value pair. The $PNMRX110 message format is shown below.
    PNMRX110 field list
    Field

    Format

    Min chars

    Max chars

    Notes

    Message ID

    $PNMRX110

    6

    8

    PNMRX110 protocol header.

    Mask ID

    Int

    2

    2

    Mask identifier, see below.

    Value

    Variant

    1

    8

    New value for mask, dependent on the preceding field,
    see below.

    Mask ID

    Int

    2

    2

    Mask identifier.

    Value

    Variant

    1

    8

    New value for mask, dependent on the preceding field.

    Checksum

    *xx

    (0) 3

    3

    2 digits.

    Message terminator

    <CR> <LF>

    2

    2

    ASCII 13, ASCII 10.

    PNMRX110 Mask Field interpretation
    Mask Id

    mask

    format

    width

    units

    0

    Local Time Zone

    Int: unsigned

    2:2

    Hours : Minutes

    1

    Maximum PDOP1

    Unsigned

    4

    x10, [0-100]

    2

    Maximum HDOP

    Unsigned

    4

    x10, [0-100]

    Unsigned

    4

    x10, [0-100]

    1

    3

    Maximum VDOP

    4

    Minimum SNR

    Unsigned

    2

    dB/Hz, [20-45]

    5

    Minimum Elevation

    Unsigned

    2

    Degrees, [0-90]

    6

    Noise Floor

    Unsigned

    4

    -, [400-1000]

    7

    Navigation Mode 11

    Unsigned

    1

    1

    = Auto (hold alt)

    2

    = 2D Mode

    4

    = 3D Mode (calc alt)

    1

    8

    2D Mode Altitude

    Unsigned

    6

    Meters above MSL

    9

    Navigation Mode 21

    Boolean

    1

    0

    = Auto

    1

    = Static

    10

    Maximum Altitude

    Unsigned

    6

    Examples:
    $PNMRX110, 0,-2:0*xx: Set the local time to –2 hours 0 minutes.
    $PNMRX110, 4, 35*xx: Set the minimum SNR to 35

    27

    Meters.



  • Page 28

    $PNMRX111, Software reset
    This message is used to reset the systems. If the message is sent without parameters the
    receiver reboots according to the fix procedure (hot, warm or cold) configured with the
    PNMRX101 or PNMRX104 messages. A second parameter can optionally be used to specify which
    actions are executed after the reset. If the last bit field is set to ‘1’, then the actions are repeated
    permanently at each reset, until this bit is cleared.
    Field

    Format

    Min chars

    Max chars

    Notes

    Message ID

    $PNMRX111

    6

    8

    PNMRX111 protocol header.

    Invalidate parameter

    Integer OR

    1

    7

    If integer, the bit field have the following meaning

    String

    (the action described is executed if the bit is 1):

    Field

    Action

    0

    Reload settings from Flash

    1

    Clear almanac data and don’t load if from
    flash

    2

    Clear Ephemeris data

    3

    Clear ionosphere and troposphere
    corrections

    4

    Invalidate stored position

    5

    Invalidate stored time

    6

    Copy oscillator offset from Settings

    7

    Sticky bit –if ‘1’the action are repeated at
    each reset

    If String, the following values are allowed:
    FACTORY
    COLD

    See Section 2.1 for definition.
    See Section 2.1 for definition.

    WARM

    See Section 2.1 for definition.

    HOT

    See Section 2.1 for definition.

    Checksum

    *xx

    (0) 3

    3

    2 digits.

    Message terminator

    <CR> <LF>

    2

    2

    ASCII 13, ASCII 10.

    Examples:
    $PNMRX111*xx: Resets the system

    28



  • Page 29

    $PNMRX112, Power Mode Control
    This message is used to configure the operating modes of the receiver. Low power modes can
    be activated and configured. Low power mode starts to work only after the receiver has a complete
    and up to date almanac and it can produce the fix.
    Field

    Format

    Min chars

    Max chars

    Notes

    Message ID

    $PNMRX112

    6

    8

    PNMRX112 protocol header.

    Operating Mode

    Into

    1

    1

    0

    = Fully Active

    1

    = LDCM1

    OFF period

    Into

    1

    2

    RF off time in seconds [5:10]

    Checksum

    *xx

    (0) 3

    3

    2 digits.

    Message terminator

    <CR> <LF>

    2

    2

    ASCII 13, ASCII 10.

    Examples:
    $PNMRX112, 1, 5*xx: enable low power mode (with 5 seconds off time between 2 fixes)

    $PNMRX113, GPS Core Activity Control
    This message is used to disable GPS Core activities (data extraction and fix generation) on the
    node. The goal of this message is to disable these two functions when they need to be overwritten
    by external values for test purpose. A reset message must be set after the PNMRX113 in order to
    resume operation. For instance if a different almanac needs to be downloaded to the receiver then,
    data extraction must be disabled, then the new almanac can be downloaded. A reset command will
    then be used to restore operation with hen new almanac.
    Field

    Format

    Min chars

    Max chars

    Notes

    Message ID

    $PNMRX113

    6

    8

    PNMRX113 protocol header.

    Checksum

    *xx

    (0) 3

    3

    2 digits.

    Message terminator

    <CR> <LF>

    2

    2

    ASCII 13, ASCII 10.

    Examples:
    $PNMRX113*xx: Stops GPS Core activities.

    29



  • Page 30

    $PNMRX300, Almanac Data Transfer
    This message format is used to transfer the almanac data between nodes; it uses a packed
    hexadecimal format to transfer almanac data for each of the available SV’s. Since the Almanac data
    is large and can take time to transfer over a slow serial interface, the data is divided into individual
    messages for each of the SV’s. These messages are transmitted sequentially and can be interleaved
    with other messages to prevent the Almanac data blocking higher priority messages such as
    scheduled PVT information. The data for these messages is expressed as signed or unsigned fixed
    point values which have been scaled from the floating point values used in the position solution.
    The appropriate scaling factors are included in the table. There is 1 message for each satellite for
    which data is available. When transmitted these messages are generated in ascending order of SV
    Id, when being sent to the node these can be sent in any order, each message is individually
    interpreted and processed.
    Field

    Format

    width

    Message ID

    $PNMRX300

    8

    SV Id

    Int

    2

    e

    Hex

    4

    Health

    Hex

    2

    Toa

    Hex

    2

    scale

    Notes
    PNMRX300 protocol header.
    Decimal Satellite vehicle Id from 1 to 32.

    2

    -21

    16 bit signed int, scale.
    Bitmap of satellite health.
    Week Number

    -19

    16 bit signed int.

    di

    Hex

    4

    2

    Omega dot

    Hex

    4

    2-38

    16 bit signed int.

    Root_A

    Hex

    6

    2-11

    24 bit unsigned int.

    -23

    24 bit signed int.

    Omegazero

    Hex

    6

    2

    Perigee

    Hex

    6

    2-23

    24 bit signed int.

    6

    2

    -23

    24 bit signed int.

    -23

    24 bit signed int.

    Mean

    Hex

    Mean anomaly

    Hex

    6

    2

    af0

    Hex

    6

    2-20

    11 bit signed int.

    -68

    11 bit signed int.

    af1

    Hex

    6

    2

    Checksum

    *xx

    (0) 3

    2 digits.

    Message terminator

    <CR> <LF>

    2

    ASCII 13, ASCII 10.

    30



  • Page 31

    $PNMRX301, Ephemeris Data Transfer
    This message format is used to transfer the ephemeris data between nodes; it uses a packed
    hexadecimal format to transfer ephemeris data for each of the available SV’s. Since the Ephemeris
    data is large and can take time to transfer over a slow serial interface, the data is divided into
    individual messages for each of the SV’s. These messages are transmitted sequentially and can be
    interleaved with other messages to prevent the Ephemeris data blocking higher priority messages
    such as scheduled PVT information. The data for these messages is expressed as signed or unsigned
    fixed point values which have been scaled from the floating point values used in the position
    solution. The appropriate scaling factors are included in the table. The ephemeris data for each
    satellite is divided into 3 separate messages with sequence numbers to identify them, the contents
    of these frames reflects the contents of the appropriate subframes 1,2,3 transmitted from the SV’s.
    When transmitted these messages are generated in ascending order of SV Id and sequence number,
    when being sent to the node these can be sent in any order, provided that the 3 messages for any
    individual satellite are grouped together, each message is individually interpreted and after a group
    of 3 valid messages for an SV the ephemeris for that SV is updated independently. The 3 message
    formats are illustrated in the following tables
    PNMRX301 message 1 field list
    Field

    Format

    width

    Message ID

    $PNMRX301

    8

    PNMRX301 protocol header.

    Satellite vehicle Id

    Int

    2

    Decimal satellite vehicle Id from 1 to 32.

    Subframe Id

    Int

    1

    Subframe number 1.

    Week number

    Hex

    3

    Health

    Hex

    2

    URA

    Hex

    1

    Time Group Delay

    Hex

    2

    IODC

    Hex

    3

    Toc

    Hex

    4

    scale

    Units

    Notes

    Weeks

    10 bit week number.
    6 bits.
    User range accuracy.

    2

    -31

    Seconds

    8 bits.
    10 bit integer.

    2-4

    16 bits.

    -31

    2

    sec/sec

    8 bit signed integer.

    Af2

    Hex

    2

    2

    Af1

    Hex

    4

    2-43

    sec/sec

    16 bit signed integer.

    Af0

    Hex

    6

    2-31

    Seconds

    22 bit signed integer.

    Checksum

    *xx

    (0) 3

    2 digits.

    Message terminator

    <CR> <LF>

    2

    ASCII 13, ASCII 10.

    31



  • Page 32

    PNMRX301 message 2 field list
    Field

    Format

    width

    scale

    units

    Notes

    Message ID

    $PNMRX301

    8

    PNMRX301 protocol header.

    Satellite Vehicle Id

    Int

    2

    Decimal satellite vehicle id from 1 to 32.

    Subframe Id

    Int

    1

    Subframe number 2.

    Iode

    Hex

    2

    8 bits, lower 8 bits of matching iodc.
    -5

    Crs

    Hex

    4

    2

    Motion difference

    Hex

    4

    2-43

    Meters

    16 bit signed integer.

    Semi-

    16 bit signed integer.

    circles/sec
    Mean anomaly

    Hex

    8

    2-31

    -29

    Semi-

    32 bit signed integer.

    circles
    Cuc

    Hex

    4

    2

    E

    Hex

    8

    2-33
    -29

    Radians

    16 bit signed integer.
    32 bit signed integer.

    Cuc

    Hex

    4

    2

    Radians

    16 bit signed integer.

    Root A

    Hex

    8

    2-19

    Meters 1/4

    32 bit signed integer.

    Toe

    Hex

    4

    24

    seconds

    16 bit unsigned integer.

    Checksum

    *xx

    (0) 3

    2 digits.

    Message terminator

    <CR> <LF>

    2

    ASCII 13, ASCII 10.

    32



  • Page 33

    PNMRX301 message 3 field list
    Field

    Format

    width

    Message ID

    $PNMRX301

    8

    PNMRX301 protocol header.

    Satellite Vehicle Id

    Int

    2

    Decimal satellite vehicle id from 1 to 32.

    Subframe Id

    Int

    1

    Subframe number 3.

    Cic

    Hex

    4

    2-29

    8

    2

    -31

    -29

    Omega zero

    Hex

    scale

    units

    Notes

    Radians

    16 bit signed integer.

    Semi-

    32 bit signed integer.

    circles
    Cis

    Hex

    4

    2

    I Zero

    Hex

    4

    2-31

    -5

    radians

    16 bit signed integer.

    Semi-

    32 bit signed integer.

    circles
    Crc

    Hex

    4

    2

    Perigree

    Hex

    8

    2-31

    Meters

    16 bit signed integer.

    Semi-

    32 bit signed integer.

    circles
    Omega dot

    Hex

    6

    2-43

    Semi-

    24 bit signed integer.

    circles/sec
    Iode

    Hex

    2

    I dot

    Hex

    4

    Lower 8 bits of matching iodc.
    2-43

    Semi-

    14 bit signed integer.

    circles/sec
    Checksum

    *xx

    (0) 3

    2 digits.

    Message terminator

    <CR> <LF>

    2

    ASCII 13, ASCII 10.

    33



  • Page 34

    $PNMRX302, Ionospheric correction
    Field

    Format

    width

    scale

    units

    Notes

    Message ID

    $PNMRX302

    8

    PNMRX301 protocol header.

    Satellite Vehicle Id

    Int

    2

    Decimal satellite vehicle id from 1 to 32.

    a0

    Hex

    2

    2-30

    a1

    Hex

    2

    2-27

    a2

    Hex

    2

    2-24

    a3

    Hex

    2

    2-24

    ß0

    Hex

    2

    211

    ß1

    Hex

    2

    214

    ß2

    Hex

    2

    216

    ß3

    Hex

    2

    216

    Checksum

    *xx

    (0) 3

    2 digits.

    Message terminator

    <CR> <LF>

    2

    ASCII 13, ASCII 10.

    $PNMRX303,UTC time
    Field

    Format

    width

    scale

    units

    Notes

    Message ID

    $PNMRX303

    8

    PNMRX301 protocol header.

    Satellite Vehicle Id

    Int

    8

    Decimal satellite vehicle id from 1 to 32.

    Data – A0

    Hex

    2

    Constant term of the polynomial

    Data – A1

    Hex

    2

    First-order term of the polynomial.

    Delta t LS

    Hex

    2

    Delta time due to leap seconds.

    Tot

    Hex

    2

    Reference time for UTC.

    WNt

    Hex

    2

    UTC reference week number

    WNlsf

    Hex

    2

    Week number at which the leap second
    becomes effective.

    DN

    Hex

    2

    Day number B2.

    Delta t LSF

    Hex

    2

    Delta time due to leap seconds if leap
    second is ini the past.

    NumBlocks

    Hex

    2

    Number of 20 year blocks

    Time Offset

    Hex

    2

    Time offset for current time zone

    Checksum

    *xx

    (0) 3

    2 digits.

    Message terminator

    <CR> <LF>

    2

    ASCII 13, ASCII 10.

    34



  • Page 35

    $PNMRX304, GPS Constellation Health
    Field

    Format

    Min chars

    Max chars

    Notes

    Message ID

    $PNMRX304

    8

    8

    PNMRX110 protocol header.

    Health Code

    Char

    TBD

    TBD

    SV health code if ? 0.

    Health Code

    Char

    TBD

    TBD

    SV health code if ? 0.

    Checksum

    *xx

    (0) 3

    3

    2 digits.

    Message

    <CR> <LF>

    2

    2

    ASCII 13, ASCII 10.

    terminator

    $PNMRX600, Report Software Version
    By sending the $PNMRX600*00 string to the receiver, the version of the software is output.

    $PNMRX601, Enter ISP mode
    By sending the $PNMRX601*00 string to the receiver, the receiver enters ISP mode.

    $PNMRX603, Settings report
    By sending the $PNMRX603*00 string to the receiver, the current value of the settings is
    output. The content of settings is split in 4 messages.
    PNMRX603 message 0
    Field

    Format

    Min chars

    Max chars

    Notes

    Message ID

    $PNMRX603

    8

    8

    PNMRX603 protocol header.

    Message Nb

    Int

    1

    1

    0

    Message

    7xInt

    1

    1

    Message Sequence

    7xInt

    1

    1

    Message Delay

    Hex

    8

    8

    Nemerix Message Enabled

    Uart Settings

    Hex

    8

    8

    Uart settings

    Checksum

    *xx

    (0) 3

    3

    2 digits.

    Message

    <CR> <LF>

    2

    2

    ASCII 13, ASCII 10.

    Sequence
    (7 times)
    Message
    Delay
    (7 times)
    NMRX
    Message
    Enabled

    terminator

    35



  • Page 36

    PNMRX603 message 1
    Field

    Format

    Min chars

    Max chars

    Notes

    Message ID

    $PNMRX603

    8

    8

    PNMRX603 protocol header.

    Message Nb

    Int

    1

    1

    1

    Ionospheric

    Hex

    2

    2

    Ionospheric correction a0 coefficient.

    Hex

    2

    2

    Ionospheric correction a1 coefficient.

    Hex

    2

    2

    Ionospheric correction

    a2 coefficient.

    Hex

    2

    2

    Ionospheric correction

    a3 coefficient.

    Hex

    2

    2

    Ionospheric correction

    ß0 coefficient.

    Hex

    2

    2

    Ionospheric correction

    ß1 coefficient.

    Hex

    2

    2

    Ionospheric correction

    ß2 coefficient.

    Hex

    2

    2

    Ionospheric correction

    ß3 coefficient.

    Hex

    1

    1

    Ionospheric Data Valid. If 0 the data are invalid.

    Num Blocks

    Hex

    1

    1

    Number of 20 year blocks

    Time Offset

    Int

    (-)2

    (-)2

    Offset of local time zone (-13) to 13

    Int

    (-)2

    (-)2

    Checksum

    *xx

    (0) 3

    3

    2 digits.

    Message

    <CR> <LF>

    2

    2

    ASCII 13, ASCII 10.

    Data A0
    Ionospheric
    Data A1
    Ionospheric
    Data A2
    Ionospheric
    Data A3
    Ionospheric
    Data B0
    Ionospheric
    Data B1
    Ionospheric
    Data B2
    Ionospheric
    Data B3
    Ionospheric
    Data Valid

    (Local zone
    hours)
    Time Offset
    (Local zone
    minutes)

    terminator

    36



  • Page 37

    NMRX603 message 2
    Field

    Format

    Min chars

    Max chars

    Notes

    Message ID

    $PNMRX603

    8

    8

    PNMRX603 protocol header.

    Message Nb

    Int

    1

    1

    2

    MaxPDOP

    Float

    MaxHDOP

    Float

    Invalid Sv

    Hex

    8

    8

    Min CNO

    Float

    Min Elevation

    Float

    Max TM

    Int

    2

    2

    Max Sv for fix

    Int

    2

    2

    Checksum

    *xx

    (0) 3

    3

    2 digits.

    Message

    <CR> <LF>

    2

    2

    ASCII 13, ASCII 10.

    terminator

    PNMRX603 message 3
    Field

    Format

    Min chars

    Max chars

    Notes

    Message ID

    $PNMRX603

    8

    8

    PNMRX603 protocol header.

    Message Nb

    Int

    1

    1

    3

    Acq

    Int

    3

    8

    Int

    3

    8

    Noise floor

    Int

    3

    8

    Kalman Mode

    Hex

    1

    1

    Default

    Int

    1

    8

    Checksum

    *xx

    (0) 3

    3

    2 digits.

    Message

    <CR> <LF>

    2

    2

    ASCII 13, ASCII 10.

    threshold 1
    Acq
    threshold 2

    altitude

    terminator

    37



  • Page 38

    PNMRX603 message 4
    Field

    Format

    Min chars

    Max chars

    Notes

    Message ID

    $PNMRX603

    8

    8

    PNMRX603 protocol header.

    Message Nb

    Int

    1

    1

    4

    Correction

    Int

    1

    1

    EGM96 geoids correction

    Int

    1

    8

    Reference number of the appropriate map datum to

    Mode
    Map Datum

    apply
    Dx

    Int

    1

    8

    x offset in meters

    Dy

    Int

    1

    8

    y offset in meters

    Dz

    Int

    1

    8

    z offset in meters

    Inverse

    Int

    1

    8

    Inverse flatness of reference geode

    Major axis

    Int

    1

    8

    Semi major axis of reference geode

    Checksum

    *xx

    (0) 3

    3

    2 digits.

    Message

    <CR> <LF>

    2

    2

    ASCII 13, ASCII 10.

    flatness

    terminator

    Examples:
    $PNMRX603*xx: Display the content of the Settings stored in NVRam

    38






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