Motorola M12 Oncore User's Guide Page 165
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Chapter 5 - I/O Commands
12 CHANNEL POSITION/STATUS/DATA MESSAGE (@@Ha)
Motorola Binary Format
Request 12 Channel Position/Status/Data Message:
@@HarC<CR><LF>
where:
r = Output Rate 0x00 = output response message
once (polled)
0x01 .. 0xFF = response message output at indicated
rate:
0x01 = once per second
0x02 = once every two seconds
-
-
0xFF = once every 255 seconds
C = checksum
Message length: 8 bytes
Response to above command.
@@Hamdyyhmsffffaaaaoooohhhhmmmmaaaaoooohhhh
mmmmVVvvhddttimsidd (repeat ‘imsidd’ series for remaining 11 channels)
ssrrccooooTTushmvvvvvvC<CR><LF>
Date
m = month 1..12
d = day 1..31
yy = year 1998..2079
Time
h = hours 0..23
m = minutes 00..59
s = seconds 0..60
ffff = fractional second 0..999,999,999 nanoseconds
Position (Filtered or Unfiltered following Filter Select)
aaaa = latitude in mas -324,000,000..324,000,000 (-90º..+90º)
oooo = longitude in mas -648,000,000..648,000,000 (-180º..+180º)
hhhh = GPS height in cm -100,000..+1,800,000 (-1000..+18,000m)*
mmmm MSL height in cm always 0,000,000 with M12+
Position (Always Unfiltered)
aaaa = latitude in mas -324,000,000..324,000,000 (-90º..+90º)
oooo = longitude in mas -648,000,000..648,000,000 (-180º..+180º)
hhhh = GPS height in cm -100,000..+1,800,000 (-1000..+18,000m)*
mmmm = MSL height in cm always 0,000,000 with M12+
Motorola GPS Products - M12+ User's Guide Revision 6.X 09FEB05
157
- 12+ Timing Receiver Only) 43 4
- Chapter 1 – INTRODUCTION 9
- OVERVIEW 10
- PRODUCT HIGHLIGHTS 11
- APPLICATIONS 12
- How to Get Warranty Service 14
- Space Segment 16
- Ground Control Segment 16
- User Segment 16
- CHAPTER SUMMARY 19
- Memory Backup 21
- Active Antenna Configuration 25
- Main Power 26
- Receiver Module Installation 33
- RF Shielding 34
- Thermal Considerations 34
- Grounding Considerations 34
- PCB Mounting Hardware 35
- System Integration 37
- Motorola Binary Format 38
- NMEA Protocol Support 44
- Input/Output Processing Time 47
- DATA LATENCY 48
- Position Data Latency 49
- Velocity Data Latency 49
- Time Data Latency 49
- Measurement Epoch Timing 49
- OPERATIONAL CONSIDERATIONS 51
- Time to First Fix (TTFF) 52
- First Time On 52
- Initialization 52
- Shut Down 53
- Motorola HAWK Antenna 60
- Hawk Antenna Gain Pattern 62
- Motorola Part Numbers 65
- Antenna Placement 67
- Antenna Cable RF Connectors 69
- Motorola Timing2000 Antenna 70
- Timing2000 Antenna Mounting 73
- Environmental Tests 75
- Chapter 5 - I/O COMMANDS 77
- SATELLITE MASK ANGLE (@@Ag) 83
- @@ANxC<CR><LF> 89
- @@ANfC<CR><LF> 89
- DATUM SELECT COMMAND (@@Ao) 90
- @@AObC<CR><LF> 93
- @@APxC<CR><LF> 97
- @@APmC<CR><LF> 97
- @@AqxC<CR><LF> 99
- @@AqsC<CR><LF> 99
- @@AQxC<CR><LF> 101
- @@AQsC<CR><LF> 101
- @@ASxC<CR><LF> 105
- @@ASeC<CR><LF> 105
- @@AwxC<CR><LF> 107
- @@AwmC<CR><LF> 107
- @@BbmC<CR><LF> 113
- @@BdmC<CR><LF> 115
- ALMANAC DATA REQUEST (@@Be) 116
- @@BemC<CR><LF> 117
- EPHEMERIS DATA INPUT (@@Bf) 118
- @@BhmC<CR><LF> 121
- @@BjmC<CR><LF> 123
- @@BomC<CR><LF> 125
- @@BouC<CR><LF> 125
- @@BpmC<CR><LF> 127
- ALMANAC DATA INPUT (@@Cb) 128
- @@CkC<CR><LF> 131
- SET-TO-DEFAULTS (@@Cf) 133
- NMEA PROTOCOL SELECT (@@Ci) 134
- SWITCH I/O FORMAT (@@Ci) 135
- RECEIVER ID (@@Cj) 136
- @@EqmC<CR><LF> 143
- COMBINED TIME MESSAGE (@@Gb) 148
- 00 = positive 150
- 0…+23 150
- 0…59 150
- 1PPS CONTROL MESSAGE (@@Gc) 152
- @@GdxC<CR><LF> 155
- @@GdcC<CR>LF> 155
- @@GdpC<CR>LF> 155
- @@GexC<CR><LF> 157
- @@GetC<CR><LF> 157
- @@GfxxC<CR><LF> 159
- @@GfaaC<CR><LF> 159
- LEAP SECOND PENDING (@@Gj) 161
- VEHICLE ID (@@Gk) 162
- @@HarC<CR><LF> 165
- 0…250000 Hz 167
- 0 = UTC offset not decoded 167
- 0x00 = positive 168
- 0…23 168
- @@HbrC<CR><LF> 171
- @@HnrC<CR><LF> 175
- ><LF> 177
- @@IaC<CR><LF> 183
- @@IasssC<CR>LF> 183
- SYSTEM POWER-ON FAILURE 184
- @@SzcC<CR><LF> 185
- NMEA GPGGA MESSAGE 186
- GPGGA (NMEAGPS FIX DATA) 187
- GPZDA (NMEA TIME AND DATE) 200
- SWITCH TO BINARY 203
- APPENDIX 1 – GPS Terminology 205
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