Cayman Systems | 2E-H-W | Version R16 09 Oct 2013 - u-blox

NMEA Manual based on MediaTek
chipset
For u-blox, Fastrax IT500 series GPS/GNSS modules
Manual
Abstract
This document provides NMEA command manual for u-blox, Fastrax
IT500 series GPS/GNSS modules based on MediaTek chipset. This
NMEA command manual serves as a reference tool.
www.u-blox.com
NMEA Manual based on MediaTek chipset - Manual
Document Information
Title
NMEA Manual based on MediaTek chipset
Subtitle
For u-blox, Fastrax IT500 series GPS/GNSS modules
Document type
Manual
Document number
UBX-13003181
Document revision
R16
Document status
Early Production Information
Document status information
Objective
This document contains target values. Revised and supplementary data will be published
Specification
later.
Advance
This document contains data based on early testing. Revised and supplementary data will
Information
be published later.
Early Production
This document contains data from product verification. Revised and supplementary data
Information
may be published later.
Production
This document contains the final product specification.
information
This document applies to the following products:
Name
ROM/FLASH version
PCN reference
IT530M
IT530
UC530M
UC530
UP501
UP501B
UP501D
UP501R
IT520
IT500
Flash
Flash
Flash
Flash
Flash
Flash
Flash
Flash
Flash
Flash
N/A
N/A
N/A
N/A
N/A
N/A
N/A
N/A
N/A
N/A
This document and the use of any information contained therein, is subject to the acceptance of the u-blox terms and conditions. They
can be downloaded from www.u-blox.com.
u-blox makes no warranties based on the accuracy or completeness of the contents of this document and reserves the right to make
changes to specifications and product descriptions at any time without notice.
u-blox reserves all rights to this document and the information contained herein. Reproduction, use or disclosure to third parties without
express permission is strictly prohibited. Copyright © 2013, u-blox AG.
u-blox® is a registered trademark of u-blox Holding AG in the EU and other countries.
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Contents
Contents.............................................................................................................................. 3
1
NMEA default output messages.................................................................................. 5
1.1
1.2
1.5
1.6
1.7
1.8
1.9
2
GGA - Global Positioning System Fix Data ............................................................................................ 5
GLL – Geographic Position – Latitude/Longitude ................................................................................... 6
RMC - Recommended Minimum Specific GNSS Data. ........................................................................... 6
GSV - Satellites in view ......................................................................................................................... 7
GSA - DOP and Active Satellites ............................................................................................................ 8
VTG – Course Over Ground and Ground Speed .................................................................................... 8
ZDA – Time and Date............................................................................................................................ 9
NMEA commands ....................................................................................................... 10
2.1
PMTK000 TEST ................................................................................................................................... 11
2.2
PMTK001 ACK ................................................................................................................................... 11
2.3
PMTK010 Startup message ................................................................................................................. 12
2.4
PMTK011 Output System Text ............................................................................................................ 12
2.5
PMTK101 CMD HOT START ................................................................................................................ 12
2.6
PMTK102 CMD WARM START ........................................................................................................... 12
2.7
PMTK103 CMD COLD START ............................................................................................................. 13
2.8
PMTK104 CMD FULL COLD START ..................................................................................................... 13
2.9
PMTK120 CLEAR FLASH AID ............................................................................................................... 13
2.10 PMTK127 CLEAR EPO FILE .................................................................................................................. 13
2.11 PMTK161 ENTER STANDBY MODE ..................................................................................................... 14
2.12 PMTK183 LOCUS QUERY LOGGING STATUS ...................................................................................... 14
2.13 PMTK184 LOCUS ERASE FLASH .......................................................................................................... 15
2.14 PMTK185 LOCUS START/STOP LOGGER ............................................................................................. 15
2.15 PMTK186 LOCUS LOG NOW .............................................................................................................. 15
2.16 PMTK622 LOCUS QUERY DATA ......................................................................................................... 16
2.17 PMTK869 ENABLE EASY ..................................................................................................................... 17
2.18 PMTK220 SET POS FIX ........................................................................................................................ 17
2.19 PMTK223 SET ALWAYS LOCATE DEFAULT CONFIGURATION ............................................................. 18
2.20 PMTK225 SET PERIODIC MODE .......................................................................................................... 18
2.21 PMTK251 SET NMEA BAUD RATE ....................................................................................................... 19
2.21.1 Setting 5 Hz navigation ............................................................................................................... 20
2.21.2 Setting 10 Hz navigation ............................................................................................................. 20
2.22 PMTK286 ENABLE AIC ........................................................................................................................ 20
2.23 PMTK300 Set Fix Interval .................................................................................................................... 21
2.24 PMTK301 API SET DGPS MODE .......................................................................................................... 21
2.25 PMTK313 API SET SBAS ENABLED ...................................................................................................... 21
2.26 PMTK314 API SET NMEA OUTPUT ...................................................................................................... 22
2.27 PMTK330 API SET DATUM .................................................................................................................. 23
2.28 PMTK331 API SET DATUM ADVANCE................................................................................................. 23
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2.29 PMTK335 API SET RTC TIME ............................................................................................................... 23
2.30 PMTK351 SET QZSS NMEA FORMAT .................................................................................................. 24
2.31 PMTK352 API SET STOP QZSS ............................................................................................................. 24
2.32 PMTK353 API SET GNSS SEARCH MODE ............................................................................................ 25
2.33 PMTK386 API SET STATIC NAV THD MT333X ..................................................................................... 25
2.34 PMTK397 API SET STATIC NAV THD MT332X ..................................................................................... 26
2.35 PMTK390 API SET USER OPTION ......................................................................................................... 26
2.35.1 Setting 4800 baud rate permanently ........................................................................................... 26
2.36 PMTK740 SET UTC TIME ..................................................................................................................... 27
2.37 PMTK741 SET INITIAL POSITION AND TIME ......................................................................................... 27
3
Query commands ....................................................................................................... 29
3.1
3.2
3.3
3.4
3.5
3.6
3.7
4
PMTK400 API Q FIX CTL ..................................................................................................................... 29
PMTK401 API Q DGPS MODE ............................................................................................................. 29
PMTK413 API Q SBAS ENABLED ......................................................................................................... 29
PMTK414 API Q NMEA OUTPUT ......................................................................................................... 29
PMTK430 API Q DATUM .................................................................................................................... 30
PMTK431 API Q DATUM ADVANCE ................................................................................................... 30
PMTK490 API GET USER OPTION ........................................................................................................ 30
Firmware STATUS ....................................................................................................... 31
4.1
4.2
4.3
4.4
PMTK605 QUERY FIRMWARE INFO..................................................................................................... 31
PMTK607 QUERY EPO STATUS ........................................................................................................... 31
PMTK660 Q AVAILABLE SV EPH ......................................................................................................... 31
PMTK661 Q AVAILABLE SV ALM ........................................................................................................ 32
5
FIX Valid Flag .............................................................................................................. 33
6
Appendix A ................................................................................................................. 34
Related documents........................................................................................................... 38
Revision history ................................................................................................................ 39
Contact .............................................................................................................................. 41
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1 NMEA default output messages
IT500 series receivers support standard NMEA0183 messages.
In the default configuration, output messages are GGA, RMC, GSV and GSA messages. The receiver can be
configured to have a user defined set of output messages, by command PMTK314 as described in chapter 2.12.
For IT530M and UC530M modules, VTG message will be output by default.
Output messages are utilized in Fastrax Workbench 5 to visualize the GPS/GNSS data. Default output messages
cover most of the applications.
The NMEA standard differentiates between GPS, GLONASS and combined GNSS receivers using a two-letter
message identifier, known as the “Talker ID”. By default, IT530M and UC530M receivers are configured to
support GPS and GLONASS concurrently use the “GN”, “GL” and “GP” talker IDs. Table 1 shows “Talker ID”
used in individual operation modes of IT530M/UC530M modules.
Operation mode
Talker ID
GPS + GLONASS hybrid (defualt)
GP, GN, GL
GPS only
GP, GL
GLONASS only
GP, GN, GL
Table 1: Talker ID used in IT530M and UC530M for different constellation modes
For IT530M and UC530M module:
GGA and VTG messages will only use “GP” talker ID for GPS only, GLONASS only and GPS+GLONASS
concurrent operation modes.
In GPS only mode: the incomplete GLGSV message shown as “GLGSV,1,1,00*65” (SV-info missing) should
be ignored.
In GLONASS only mode: the incomplete GPGSV messages with empty SNR-field indicate that GPS satellites
are not in track.
1.1
GGA - Global Positioning System Fix Data
Time, position and fix related data for a GPS receiver.
Example:
$GPGGA,114353.000,6016.3245,N,02458.3270,E,1,10,0.81,35.2,M,19.5,M,,*50
Format:
$GPGGA,hhmmss.dd,xxmm.dddd,<N|S>,yyymm.dddd,<E|W>,v,s,d.d,h.h,M,g.g,M,a.a,xxxx*hh<CR><LF>
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Type
Description
hhmmss.ddd
UTC time of the fix.
hh=hours; mm=minutes; ss=seconds; ddd=decimal part of seconds
Latitude coordinate.
xx=degrees; mm=minutes; dddd=decimal part of minutes
Character denoting either N=North or S=South.
Longitude coordinate.
yyy=degrees; mm=minutes; dddd=decimal part of minutes
Character denoting either E=East or W=West.
Fix valid indicator
1 = GPS fix (SPS)
2 = DGPS fix
3 = PPS fix
4 = Real Time Kinematic
5 = Float RTK
6 = estimated (dead reckoning) (2.3 feature)
7 = Manual input mode
8 = Simulation mode
Number of satellites used in position fix, 0-12.
HDOP - Horizontal Dilution Of Precision.
Altitude (mean-sea-level, geoid)
Letter M.
Difference between the WGS-84 reference ellipsoid surface and the mean-sea-level altitude.
Letter M.
-
xxmm.dddd
<N/S>
yyymm.dddd
<E/W>
v
s
d.d
h.h
M
g.g
M
a.a
xxxx
1.2
GLL – Geographic Position – Latitude/Longitude
Latitude and Longitude, UTC time of fix and status.
Example:
$GPGLL,6012.5674,N,02449.6545,E,072022.000,A,A*50
Format:
$GPGLL,xxmm.dddd,<N|S>,yyymm.dddd,<E|W>,hhmmss.ddd,S,M*hh<CR><LF>
Type
Description
xxmm.dddd
Latitude coordinate.
xx=degrees; mm=minutes; dddd=decimal part of minutes
Character denoting either N=North or S=South.
Longitude coordinate.
yyy=degrees; mm=minutes; dddd=decimal part of minutes
Character denoting either E=East or W=West.
<N|S>
yyymm.dddd
<E|W>
hhmmss.ddd
UTC time of the fix.
hh=hours; mm=minutes; ss=seconds; ddd=decimal part of seconds
S
Status indicator.
A=valid; V=invalid
M
Mode indicator.
A=autonomous; N=data not valid
1.5
RMC - Recommended Minimum Specific GNSS Data.
Time, date, position, course and speed data.
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For IT530M/UC530M module: message start as “$GNRMC” will be output in default mode including both
GPS and GLONASS constellation satellite data, or in GLONASS only mode.
Example:
$GPRMC,114353.000,A,6016.3245,N,02458.3270,E,0.01,0.00,121009,,,A*69
Example IT530M/UC530M hybrid mode:
$GNRMC,105440.000,A,6012.5669,N,02449.6536,E,0.00,0.00,061112,,,D*70
Format:
$GPRMC,hhmmss.dd,S,xxmm.dddd,<N|S>,yyymm.dddd,<E|W>,s.s,h.h,ddmmyy,d.d, <E|W>,M*hh<CR><LF>
Type
Description
hhmmss.dd
UTC time of the fix.
hh=hours; mm=minutes; ss=seconds; dd=decimal part of seconds
<E|W>
Status indicator.
A=valid; V=invalid
Latitude coordinate.
xx=degrees; mm=minutes; dddd=decimal part of minutes
Character denoting either N=North or S=South.
Longitude coordinate.
yyy=degrees; mm=minutes; dddd=decimal part of minutes
Character denoting either E=East or W=West.
s.s
Speed in knots.
h.h
Heading
ddmmyy
UTC Date of the fix.
dd=day of month; mm=month; yy=year
d.d
Magnetic variation in degrees, not supported
<E|W>
Letter denoting direction of magnetic variation. Either E=East or W=West. Not supported
M
Mode indicator
A=autonomous; N=data not valid
S
xxmm.dddd
<N|S>
yyymm.dddd
1.6
GSV - Satellites in view
Number of satellites in view, satellite ID (PRN) numbers, elevation, azimuth and SNR value. The information for
four satellites is a maximum per one message, additional messages up to maximum of eight are sent if needed.
The satellites are in PRN number order.
For IT530M/UC530M hybrid module, message starting with “$GPGSV” will be output with GPS
constellation satellite data, message starting with “$GLGSV” will be output with GLONASS constellation
satellite data.
Example:
$GPGSV,3,1,11,29,68,228,47,30,59,151,47,31,44,284,45,02,38,062,44*7C
$GPGSV,3,2,11,12,28,130,41,10,14,102,35,05,12,110,35,04,11,040,34*70
$GPGSV,3,3,11,21,05,196,29,16,05,297,28,13,02,021,30*4E
Example IT530M/UC530M hybrid mode:
$GPGSV,3,1,11,29,68,228,47,30,59,151,47,31,44,284,45,02,38,062,44*7C
$GLGSV,3,1,09,67,74,147,46,77,65,160,49,68,46,306,48,76,45,047,50*66
$GPGSV,3,3,11,21,05,196,29,16,05,297,28,13,02,021,30*4E
Format:
$GPGSV,n,m,ss,xx,ee,aaa,cn,…………. ,xx,ee,aaa,cn*hh<CR><LF>
Type
Description
n
Total number of messages, 1 to 9
m
Message number, 1 to 9
ss
Total number of satellites in view
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Type
Description
xx
Satellite ID (PRN) number
ee
Satellite elevation, degrees 90 max
aaa
Satellite azimuth, degrees True, 000 to 359
ch
Signal-to-noise ration (C/No) 00-99 dB-Hz. Value of zero means that the satellite is predicted to
be on the visible sky but it isn't being tracked.
1.7
GSA - DOP and Active Satellites
GPS receiver operating mode, satellites used in the navigation solution reported by the GGA sentence, and DOP
values.
Message starting with “$GNGSA” will be output in IT530M/UC530M default mode including both GPS and
GLONASS constellation satellite data, or in GLONASS only mode.
Example:
$GPGSA,A,3,02,21,30,04,16,05,10,12,31,29,,,1.33,0.81,1.06*02
Example IT530M/UC530M hybrid mode:
$GNGSA,A,3,26,21,16,22,18,06,19,15,30,03,07,08,1.03,0.55,0.87*1D
$GNGSA,A,3,78,71,80,86,65,79,88,87,72,,,,1.03,0.55,0.87*19
Format:
$GPGSA,a,b,xx,xx,xx,xx,xx,xx,xx,xx,xx,xx,xx,xx,p.p,h.h,v.v*hh<CR><LF>
Type
Description
a
Mode:
M = Manual, forced to operate in 2D or 3D mode.
A = Automatic, allowed to automatically switch 2D/3D.
b
Mode:
1 = Fix not available,
2 = 2D,
3 = 3D
xx
ID (PRN) numbers of GPS satellites used in solution
p.p
PDOP
h.h
HDOP
v.v
VDOP
1.8
VTG – Course Over Ground and Ground Speed
Course and speed.
Example:
$GPVTG,0.00,T,,M,0.00,N,0.00,K,A*3D
Format:
$GPVTG,h.hh,T,m.m,M,s.ss,N,s.ss,K,M*hh<CR><LF>
Type
Description
h.hh
Heading in degrees.
T
Letter 'T' denoting True heading in degrees.
m.m
Magnetic heading in degrees.
M
Letter 'M' denoting Magnetic heading in degrees.
s.ss
Speed in knots.
N
Letter 'N' denoting speed in knots.
s.ss
Speed, km/h.
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Type
Description
K
Letter 'K' denoting speed in km/h.
M
Mode indicator.
A=autonomous; N=data not valid
1.9
ZDA – Time and Date
Current UTC time and date.
Example:
$GPZDA,071850.000,31,08,2011,,*55
Format:
$GPZDA,hhmmss.ddd,dd,mm,yyyy,xx,yy*hh
Type
Description
hhmmss.ddd
UTC time in hours, minutes, seconds and fractions of a second.
dd
UTC day of month
mm
UTC month
yyyy
UTC year
xx
Local zone hours. Not implemented
yy
Local zone minutes. Not implemented
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2 NMEA commands
NMEA commands are used to change or query settings of the module.
Command Length:
The maximum length of each packet is restricted to 255 bytes.
Command Contents:
Preamble: One byte character. ‘$’
NMEA ID: This will identify for the NMEA parser that it will receive commands for MediaTek.
Four bytes character string. “PMTK”
Command Number: Three-byte character string.
An identifier, from “000” to “999”, is used to tell the decoder how to decode the command.
DataField:
The DataField has a variable length depending on the command type.
A comma symbol ‘,’ must be inserted before each data field to help the decoder process the DataField.
*: 1 byte character.
The star symbol is used to mark the end of DataField.
CHK1, CHK2: Two-byte character string.
CHK1 and CHK2 are the checksum of the data between Preamble and ‘*’.
CR, LF: Two bytes binary data.
The two bytes are used to identify the end of a command.
Sample Command:
$PMTK000*32<CR><LF>
You can use your preferred terminal emulator to enter commands. For example, you can use TeraTerm,
whichcan be downloaded from here: http://en.sourceforge.jp/projects/ttssh2/releases/
Remember to set the CR+LF for sending the command from the terminal program.
Figure 1: Tera Term terminal setup
Other possible terminal emulators to use include Putty and HyperTerminal.
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Figure 2: HyperTerminal setup
2.1
PMTK000 TEST
Command purpose:
Test the communication between the receiver and host.
Command number: 000
DataField: None
Example:
$PMTK000*32<CR><LF>
Reply: see next chapter.
2.2
PMTK001 ACK
Command purpose:
Acknowledge a PMTK000 command.
Command number: 001
DataField:
PMTK001,Cmd,Flag
Cmd: The command / packet type to be acknowledged.
Flag:
0 = Invalid command / packet.
1 = Unsupported command / packet type
2 = Valid command / packet, but action failed
3 = Valid command / packet, and action succeeded
Example:
$PMTK001,604,3*32<CR><LF>
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2.3
PMTK010 Startup message
Command purpose:
Output system message.
Command number: 010
DataField:
Msg: The system message.
‘0’: UNKNOWN
‘1’: STARTUP
‘2’: Notification for the host aiding EPO
‘3’: Notification for the transition to Normal mode is successfully done
Message ‘2’ and ‘3’ apply only for MT333X based receivers IT530, IT530M, UC530 and UC530M.
Example:
$PMTK010,001*2E<CR><LF>
2.4
PMTK011 Output System Text
Command purpose:
Output system text message.
Command number: 011
DataField:
Message of this is MTK GPS
Example:
$PMTK011,MTKGPS*08 <CR><LF>
2.5
PMTK101 CMD HOT START
Command purpose:
Hot restart: Use all available data in the NV Store.
Command number: 101
DataField: None
Example:
$PMTK101*32<CR><LF>
2.6
PMTK102 CMD WARM START
Command purpose:
Warm restart: Don't use ephemeris at re-start.
Command number: 102
DataField: None
Example:
$PMTK102*31<CR><LF>
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2.7
PMTK103 CMD COLD START
Command purpose:
Cold restart: Don't use time, position, almanacs and ephemeris data at re-start.
Command number: 103
DataField: None
Example:
$PMTK103*30<CR><LF>
2.8
PMTK104 CMD FULL COLD START
Command purpose:
Full cold restart: It’s essentially a cold restart, but additionally it clears system/user configurations at re-start. That
is, reset the receiver to the factory status.
Command number: 104
DataField: None
Example:
$PMTK104*37<CR><LF>
2.9
PMTK120 CLEAR FLASH AID
Command purpose:
Erase aiding data stored in the flash memory.
Command number: 120
DataField: none
Example:
$PMTK120*31<CR><LF>
Reply:
$PMTK001,120,3*33
This message applies only for MT333X based receivers IT530, IT530M, UC530 and UC530M.
2.10 PMTK127 CLEAR EPO FILE
Command purpose:
Clear predicted ephemeris file (EPO) from flash memory.
Command number: 127
DataField: ‘0’ Clear
Example:
$PMTK127,0*2A<CR><LF>
Reply:
$PMTK001,127,3*34
This message applies only for MT333X based receivers IT530, IT530M, UC530 and UC530M.
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2.11 PMTK161 ENTER STANDBY MODE
Command purpose:
Enter standby mode for power saving.
In this mode the receiver stops navigation and the internal processor enters standby state.
The receiver will wake up as soon as any command or text is sent to the receiver.
Command number: 220
DataField:
’0’ = Stop mode
’1’ = Sleep mode
Example:
$PMTK161,0*28<CR><LF>
Reply:
$PMTK001,161,3*36
This message applies only for MT333X based receivers IT530, IT530M, UC530 and UC530M.
2.12 PMTK183 LOCUS QUERY LOGGING STATUS
Command purpose:
Query LOCUS logging status.
Command number: 183
DataField: None
Return:
$PMTKLOG, Serial#, Type, Mode, Content, Interval, Distance, Speed, Status, Number, Percent*CH
Serial#:
Logging serial number: 0~65535
Type:
Logging type -0: Overlap, 1: FullStop
Mode:
Logging mode – 0x08: Interval logger
Content:
Logging contents of configuration
Interval:
Logging interval setting (valid when Interval mode selected)
Distance:
Logging distance setting (valid when Distance mode selected)
Speed:
Logging speed setting (valid when Speed mode selected)
Status:
Logging status – 1: Stop Logging, 2: Logging
Number:
Logging number of data record
Percent:
Logging life used percentage (0%~100%)
Example:
Input: $PMTK183*38<CR><LF>
Output: $PMTKLOG,456,0,11,31,2,0,0,0,3769,46*48
Reply:
$PMTK001,183,3*3A
This message applies only for MT333X based receivers IT530, IT530M, UC530 and UC530M.
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2.13 PMTK184 LOCUS ERASE FLASH
Command purpose:
Erase logger flash
Command number: 184
DataField:
$PMTK184, Type
Type: Erase type -1:erase all logger internal flash data
Example:
$PMTK184*22<CR><LF>
Reply:
$PMTK001,184,2*3C
This message applies only for MT333X based receivers IT530, IT530M, UC530 and UC530M.
2.14 PMTK185 LOCUS START/STOP LOGGER
Command purpose:
Stop or start logging data.
Command number: 185
DataField:
$PMTK185, Status
Status: Stop logging -
0: Stop logging
1: Start logging
Example:
$PMTK185,1*23<CR><LF>
Reply:
$PMTK001,185,3*3C
This message applies only for MT333X based receivers IT530, IT530M, UC530 and UC530M.
2.15 PMTK186 LOCUS LOG NOW
Command purpose:
Snapshot write log.
Command number: 186
DataField:
$PMTK185, Type
Type: 1 means snapshot log data
Example:
$PMTK186,1*20<CR><LF>
Reply:
$PMTK001,186,3*3F
This message applies only for MT333X based receivers IT530, IT530M, UC530 and UC530M.
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2.16 PMTK622 LOCUS QUERY DATA
Command purpose:
Dump Locus flash data
Command number: 622
DataField:
$PMTK622, Type
Type: 0: dump full flash data
1: dump partial in used flash data
Output data:
PMTKLOX packet type:
Type1: LOCUS start (n is the number PMTKLOX packets will be sent
PMTKLOX,0,n
Type2: LOCUS data (data will be sent by 8-byte HEX sting, at most 24 events)
(“FFFFFFFF” if empty) commas separate one log item.
Type3: LOCUS end
PMTKLOX,2
UTC:
4 bytes
Fix:
1 byte
Lat:
4 bytes
Lon:
4 bytes
Alt:
2 bytes
Spd:
2 bytes
Sat:
2 bytes
Cks:
1 byte
Example:
Input: $PMTK622,1*29<CR><LF>
Output:
$PMTKLOX,0,43*6E
$PMTKLOX,1,0,0100010B,1F000000,0F000000,0000100B,00000000,7FFFFFFF,FFFFFFFF,FFFFFFFF,FFFFFFFF,FFFFFFFF,FFFFFFFF,FFFFFFFF,FFFFFFF
F,FFFFFFFF,FFFFFF
FF,00FC8C1C,0B37464F,027FD670,42DC9EC6,4113007A,1A37464F,027FD670,42DC9EC6,4113006B*25
$PMTKLOX,1,1,2037464F,027FD670,42DD9EC6,41130050,2437464F,027FD670,42DD9EC6,41130054,2837464F,027FD670,42DD9EC6,4
1130058,2B37464F,027FD670,42DD9E
C6,4113005B,2E37464F,027FD670,42DD9EC6,4113005E,3D37464F,027FD670,42DC9EC6,4113004C*59
$PMTKLOX,1,2,4C37464F,027FD670,42DC9EC6,4113003D,5B37464F,027FD670,42DC9EC6,4113002A,6A37464F,027FD670,42DD9EC6,
4113001A,7937464F,027FD670,42DD9E
C6,41130009,8837464F,027FD670,42DD9EC6,411300F8,9737464F,027FD670,42DD9EC6,411300E7*5C
$PMTKLOX,1,3,A637464F,027FD670,42DD9EC6,411300D6,B537464F,027FD670,42DD9EC6,411300C5,C437464F,027FD670,42DD9EC6,
411300B4,D337464F,027FD670,42DD9E
C6,411300A3,E237464F,027FD670,42DD9EC6,41130092,F137464F,027FD670,42DD9EC6,41130081*59
$PMTKLOX,1,4,0038464F,027FD670,42DD9EC6,4113007F,0F38464F,027FD670,42DC9EC6,41130071,1E38464F,027FD670,42DC9EC6,41
130060,2D38464F,027FD670,42DC9E
C6,41130053,3C38464F,027FD670,42DC9EC6,41130042,4B38464F,027FD670,42DD9EC6,41130034*58
$PMTKLOX,1,5,5A38464F,027FD670,42DD9EC6,41130025,6938464F,027FD670,42DC9EC6,41130017,7838464F,027FD670,42DC9EC6,4
1130006,8738464F,027FD670,42DC9E
C6,411300F9,9638464F,027FD670,42DC9EC6,411300E8,A538464F,027FD670,42DD9EC6,411300DA*5D
$PMTKLOX,1,6,B438464F,027FD670,42DC9EC6,411300CA,FFFFFFFF,FFFFFFFF,FFFFFFFF,FFFFFFFF,FFFFFFFF,FFFFFFFF,FFFFFFFF,FFFFFFFF,FFFFFFF
F,FFFFFFFF,FFFFFF
FF,FFFFFFFF,FFFFFFFF,FFFFFFFF,FFFFFFFF,FFFFFFFF,FFFFFFFF,FFFFFFFF,FFFFFFFF,FFFFFFFF*58
$PMTKLOX,1,7,FFFFFFFF,FFFFFFFF,FFFFFFFF,FFFFFFFF,FFFFFFFF,FFFFFFFF,FFFFFFFF,FFFFFFFF,FFFFFFFF,FFFFFFFF,FFFFFFFF,FFFFFFFF,FFFFFFFF,FFFFFFFF
,FFFFFFFF,FFFFFFFF,FFFFFFFF,FFFFFFFF,FFFFFFFF,FFFFFFFF,FFFFFFFF,FFFFFFFF,FFFFFFFF,FFFFFFFF*58
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...
$PMTKLOX,2*47
$PMTK001,622,3*36
This message applies only for MT333X based receivers IT530, IT530M, UC530 and UC530M.
2.17 PMTK869 ENABLE EASY
Command purpose:
Enable or disable EASY function. Query if EASY is enabled or disabled.
Command number: 869
DataField:
$PMTK869, Cmd Type, [Enable]
CmdType:
Set or query
‘0’ = Query
‘1’ = Set
‘2’ = Result for Query operation
Enable: Enable or Disable
‘0’ = Disable
‘1’ = Enable
Example:
To query if EASY is enabled or disabled, use
$PMTK869,0*29<CR><LF>
If EASY is enabled, the receiver returns
$PMTK869,2,1*36<CR><LF>
If EASY is disabled, the receiver returns
$PMTK869,2,0*37<CR><LF>
To Enable EASY, use
$PMTK869,1,1*35<CR><LF>
To Disable EASY, use
$PMTK869,1,0*34<CR><LF>
This message applies only for MT333X based receivers IT530, IT530M, UC530 and UC530M.
2.18 PMTK220 SET POS FIX
Command purpose:
Set position fix interval.
Command number: 220
DataField:
Interval: Position fix interval [msec]. Must be larger than 200.
Example:
$PMTK220,1000*1F<CR><LF>
Reply:
$PMTK001,220,3*30<CR><LF>
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2.19 PMTK223 SET ALWAYS LOCATE DEFAULT CONFIGURATION
Command purpose:
Set Always Locate default configuration.
Command number: 223
DataField:
$PMTK223,SV,SNR,Extension threshold, Extension gap
SV: Default value 1, Range 1 ~4
SNR: Default value 30, Range 25 ~30
Extension threshold = 180000 msec, Range: 40000 ~180000
Extension gap = 60000 msec, Range 0 ~3600000
(Extension gap is the limitation between neighbor DEE)
Example:
$PMTK223,1,25,180000,60000*38<CR><LF>
Reply:
$PMTK001,223,3*33<CR><LF>
This message applies only for MT333X based receivers IT530, IT530M, UC530 and UC530M.
2.20 PMTK225 SET PERIODIC MODE
Command purpose:
Periodic Power Saving Mode Settings: (See following chart)
In RUN stage, the GPS receiver measures and calculates positions.
In SLEEP stage, the GPS receiver may enter two different power saving modes. One is “Periodic Standby Mode”,
and another is “Periodic Backup Mode”. Due to hardware limitations, the maximum power down duration
(SLEEP) is 2047 seconds. If the configured “SLEEP” interval is larger than 2047 seconds, the GPS firmware will
automatically extend the interval by software method. However, the GPS system will be powered on for the
interval extension and powered down again after the extension is done.
TM
With mode (type) AlwaysLocate , you can leave other parameters set to zero, because the wake and sleep times
are controlled automatically.
Command number: 225
DataField:
$PMTK225, Type, Run time, Sleep time, Second run time, Second sleep time*CS<CR><LF>
Type:
Set operation mode of power saving
‘0’: Back to normal mode
‘1’: Periodc backup mode
‘2’: Periodic standby mode
‘4’: Perpetual backup mode
TM
‘8’: AlwaysLocate standby mode
TM
‘9’: AlwaysLocate backup mode
Run time: Duration [msec] to fix for (or attempt to fix for) before switching from running mode back to a
TM
minimum power sleep mode. With AlwaysLocate you cannot set run time, since sleep and wakeup is controlled
automatically.
‘0’: Disable
>= ‘1000’: Enable
[Range: 1000~518400000]
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Sleep time: Interval [msec] to come out of a minimum power sleep mode and start running in order to get a
TM
new position fix. With AlwaysLocate you cannot set sleep time, since sleep and wakeup are controlled
automatically.
[Range: 1000~518400000]
Second run time: Duration [msec] to fix for (or attempt to fix for) before switching from running mode back to
TM
a minimum power sleep mode. With AlwaysLocate you cannot set second run time, since sleep and wakeup
are controlled automatically.
‘0’: Disable
>= ‘1000’: Enable
[Range: Second set both 0 or 1000~518400000]
Second sleep time: Interval [msec] to come out of a minimum power sleep mode and start running in order to
get a new position fix.
[Range: Second set both 0 or 1000~518400000]
Note the second run time should be larger than the first run time when non-zero value.
Example: How to enter Periodic modes
Periodic Backup mode
$PMTK225,0*2B
$PMTK223,1,25,180000,60000*38
$PMTK225,1,3000,12000,18000,72000*16
Periodic Standby mode
$PMTK225,0*2B
$PMTK223,1,25,180000,60000*38
$PMTK225,2,3000,12000,18000,72000*15
Example: How to enter AlwaysLocate modes
TM
AlwaysLocate Standby
$PMTK225,0*2B
$PMTK225,8*23
TM
AlwaysLocate Backup
$PMTK225,0*2B
$PMTK225,9*22
This message applies only for MT333X based receivers IT530, IT530M, UC530 and UC530M.
2.21 PMTK251 SET NMEA BAUD RATE
Command purpose:
Set NMEA port baud rate.
Command number: 251
DataField:
PMTK251,Baud rate
Baud rate: Baud rate setting
0 – default setting
4800
9600
14400
19200
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38400
57600
115200
Example:
$PMTK251,38400*27<CR><LF>
2.21.1 Setting 5 Hz navigation
For 5 Hz you need to change the baud rate to 38400 in order to handle the increased message load in serial
port.
Command for changing the baud rate to 38400:
$PMTK251,38400*27
The output in the terminal should show obscured data.
Then you need to change the baud rate from the terminal program to 38400.
After you can see NMEA sentences again, you are ready to give next command.
Command for setting the Fix Rate to 5 Hz:
$PMTK300,200,0,0,0,0*2F
2.21.2 Setting 10 Hz navigation
10 Hz setting works only with IT500 receiver
You can do it with first giving command PMTK251(baud rate) followed by command PMTK300(fixrate).
Command for changing the baud rate to 115200:
$PMTK251,115200*1F
The output in the terminal should show obscured data.
Then you need to change the baud rate from the terminal program to 115200.
After you can see NMEA sentences again, you are ready to give next command.
Command for setting the Fix Rate to 10 Hz:
$PMTK300,100,0,0,0,0*2C
You can reset the settings by powering off the module and removing the backup battery jumper from
application board.
Remember to set the CR+LF for sending the command from the terminal program.
E.g. in the Tera Term program, see Figure 1 for the settings.
2.22 PMTK286 ENABLE AIC
Command purpose:
Enable Active Interference Cancellation (AIC).
The Active Interference cancellation feature provides effective narrow-band interference and jamming
elimination. The GPS signal could be recovered from the jammed signal and let the user get better navigation
quality.
By default this feature is disabled.
Command number: 286
DataField:
Enabled: Enable or disable
‘0’ = Disable
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‘1’ = Enable
Example:
$PMTK286,1*23<CR><LF>
Reply:
$PMTK001,286,3*3C<CR><LF>
This message applies only for MT333X based receivers IT530, IT530M, UC530 and UC530M.
2.23 PMTK300 Set Fix Interval
Command purpose:
Set fix interval.
Command number: 300
DataField:
PMTK300,Fixinterval,0,0,0,0
Fixinterval: Unit is milliseconds [Range: 100 ~ 10000]
Example:
$PMTK300,1000,0,0,0,0*1C<CR><LF> :Set fix interval to 1000 milliseconds
Reply:
$PMTK001,300,3*33
2.24 PMTK301 API SET DGPS MODE
Command purpose:
DGPS correction data source mode.
Command number : 301
DataField :
PMTK301,Mode
Mode : DGPS data source mode.
‘0’ : No DGPS source
‘1’ : RTCM
‘2’ : SBAS
Example :
$PMTK301,1*2D<CR><LF>
Reply :
$PMTK001,301,3*32
2.25 PMTK313 API SET SBAS ENABLED
Command purpose:
Enable/disable search of SBAS satellite.
Command number: 313
DataField:
Enabled: Enable or disable
‘0’ = Disable
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‘1’ = Enable
Example:
$PMTK313,1*2E<CR><LF>
Reply:
$PMTK001,313,3*31<CR><LF>
SBAS can be used only with 1Hz (Default) output rate!
2.26 PMTK314 API SET NMEA OUTPUT
Command purpose:
Set NMEA sentence output frequencies.
Command number: 314
DataField:
There are totally 19 data fields that present output frequencies for the 19 supported NMEA sentences
individually.
Supported NMEA Sentences
0 NMEA_SEN_GLL, // GPGLL interval – Geographic Position – Latitude longitude
1 NMEA_SEN_RMC, // GPRMC interval – Recomended Minimum Specific GNSS Sentence
11 NMEA_SEN_VTG, // GPVTG interval – Course Over Ground and Ground Speed
11 NMEA_SEN_GGA, // GPGGA interval – GPS Fix Data
11 NMEA_SEN_GSA, // GPGSA interval – GNSS DOPS and Active Satellites
5 NMEA_SEN_GSV, // GPGSV interval – GNSS Satellites in View
6 NMEA_SEN_GRS, // GPGRS interval – GNSS Range Residuals (not supported on fw 150M)
7 NMEA_SEN_GST, // GPGST interval – GNSS Pseudorange Erros Statistics (not supported on fw
150M)
13 NMEA_SEN_MALM, // PMTKALM interval – GPS almanac information (not supported, all versions)
14 NMEA_SEN_MEPH, // PMTKEPH interval – GPS ephmeris information (not supported, all versions)
15 NMEA_SEN_MDGP, // PMTKDGP interval – GPS differential correction information (not supported,
all versions)
16 NMEA_SEN_MDBG, // PMTKDBG interval – MTK debug information (not supported, all versions)
17 NMEA_SEN_ZDA, // GPZDA interval – Time & Date
18 NMEA_SEN_MCHN, // PMTKCHN interval – GPS channel status
Supported Frequency Setting
0 – Disabled or not supported sentence
1 – Output once every one position fix
11 – Output once every two position fixes
11 – Output once every three position fixes
11 – Output once every four position fixes
5 – Output once every five position fixes
Example:
$PMTK314,1,1,1,1,1,5,1,1,1,1,1,1,0,1,1,1,1,1,1*2C<CR><LF>
This command set GLL output frequency to be outputting once every 1 position fix, and RMC to be outputting
once every 1 position fix, and so on.
Reply:
$PMTK001,314,3*36<CR><LF>
You can also restore the system default setting via issue:
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$PMTK314,-1*04<CR><LF>
Messages ALM, EPH, DGB and DBG are not currently supported.
Messages GRS, GST, ZDA and MCHN are not supported on 150M firmware.
2.27 PMTK330 API SET DATUM
Command purpose:
Set default datum.
Command number: 330
DataField:
PMTK330,Datum
Datum: 0: WGS84
1: TOKYO-M
2: TOKYO-A
Support 219 different datums. The total datums list in Appendix A.
Example:
$PMTK330,0*2E<CR><LF>
Reply:
$PMTK001,330,3*30<CR><LF>
2.28 PMTK331 API SET DATUM ADVANCE
Command purpose:
Set user defined datum.
Command number: 331
DataField:
PMTK331,majA,ecc,dX,dY,dZ
majA: User defined datum semi-major axis [m]
ecc: User defined datumeccentric [m]
dX: User defined datum to WGS84 X axis offset [m]
dY: User defined datum to WGS84 X axis offset [m]
dZ: User defined datum to WGS84 X axis offset [m]
Example:
$PMTK331, 6377397.155, 299.1528128, -148.0, 507.0,685.0*16<CR><LF>
Reply:
$PMTK001,331,3*31<CR><LF>
2.29 PMTK335 API SET RTC TIME
Command purpose:
This command sets RTC UTC time.
The command doesn’t update the GPS time, which is maintained by GPS receiver. After setting, the RTC
UTC time finally may be updated by GPS receiver with more accurate time after 60 seconds.
Command number: 335
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DataField:
PMTK335,Year,Month,Day,Hour,Min,Sec
Year: Year
Month: 1 ~ 12
Day: 1 ~ 31
Hour: 0 ~ 23
Min: 0 ~ 59
Sec: 0 ~ 59
Example:
$PMTK335,2007,1,1,0,0,0*02<CR><LF>
Reply:
$PMTK001,335,3*35<CR><LF>
2.30 PMTK351 SET QZSS NMEA FORMAT
Command purpose:
The receiver supports the new NMEA format for QZSS. The command allows the user to enable or disable QZSS
NMEA format. Default is to disable QZSS NMEA format (use NMEA 0183|V3.01).
Command number: 351
DataField:
PMTK351,Enabled
Enabled:
‘0’: Disable
‘1’: Enable
Example:
$PMTK351,0*29: Disable QZSS NMEA format
$PMTK351,1*28: Enable QZSS NMEA format
Reply:
$PMTK001,351,3*37<CR><LF>
This message applies only for MT333X based receivers IT530, IT530M, UC530 and UC530M.
2.31 PMTK352 API SET STOP QZSS
Command purpose:
Since QZSS is a regional positioning service, the command allows the user to enable or disable the QZSS
function.
Default is to disable the QZSS function.
Command number: 352
DataField:
PMTK352,Enabled
Enabled:
‘0’: Enable
‘1’: Disable
Example:
$PMTK352,0*2A : Enable QZSS
$PMTK352,1*2B : Disable QZSS
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Reply:
$PMTK001,352,3*34<CR><LF>
This message applies only for MT333X based receivers IT530, IT530M, UC530 and UC530M.
2.32 PMTK353 API SET GNSS SEARCH MODE
Command purpose:
This command is used to configure the constellations used in navigation.
Default setting is both Glonass and GPS enabled.
Command number: 353
DataField:
PMTK353,GPS_Enabled,GLONASS_Enabled
GPS_Enabled: ‘0’: disable (DO NOT search GPS satellites)
‘1’ or non-Zero: search GPS satellites
GLONASS_Enabled:
‘0’: disable (DO NOT search GLONASS satellites)
‘1’ or non-ZERO: search GLONASS satellites
Example:
$PMTK353,0,1*36<CR><LF> : Search GLONASS satellites only
$PMTK353,1,0*36<CR><LF> : Search GPS satellites only
$PMTK353,1,1*37 : Search GPS and GLONASS satellites
Reply:
$PMTK001,353,3*35<CR><LF>
This message applies only for MT3339 based receivers IT530M and UC530M
2.33 PMTK386 API SET STATIC NAV THD MT333X
Command purpose:
Set the speed threshold for static navigation. If the actual speed is below the threshold, then the output position
will stay the same, and the output speed will be zero. If the threshold value is set to 0, this function is disabled.
Command number: 386
DataField:
PMTK386,speed_threshold
speed_threshold: 0=disable; >0 = speed threshold in m/s
The minimum is 0.1 m/s, the maximum is 2.0 m/s.
Example:
$PMTK386,0.7*3A<CR><LF>
Reply:
$PMTK001,386,3*3D<CR><LF>
This message applies only for MT333X based receivers IT530, IT530M, UC530 and UC530M.
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2.34 PMTK397 API SET STATIC NAV THD MT332X
Command purpose:
Set the speed threshold for static navigation. If the actual speed is below the threshold, output position will keep
the same and output speed will be zero. If threshold value is set to 0, this function is disabled.
Command number: 397
DataField:
PMTK397,speed_threshold
speed_threshold: 0=disable; >0 = speed threshold in m/s
Example:
$PMTK397,0.7*3A<CR><LF>
Reply:
$PMTK001,337,3*3D<CR><LF>
This message applies only for MT332X based IT500, IT520 and UP501.
2.35 PMTK390 API SET USER OPTION
Command purpose:
Change default settings of the NMEA output permanently. Write the user setting to the flash to override the
default setting. Maximum 8 times without erase the chip.
Command number: 390
DataField:
PMTK390, Lock, Update_Rate, Baud_Rate, GLL_Period, RMC_Period, VTG_Period, GSA_Period, GSV_Period,
GGA_Period, ZDA_Period, MCHN_Period, Datum, DGPS_Mode, RTCM_Baud_Rate
Lock: nonzero: freeze the setting; 0: allow further setting.
Update_Rate: 1~5 (Hz)
Baud_Rate: 115200, 57600, 38400, 19200, 14400, 9600, 4800
RTCM_Baud_Rate: 115200, 57600, 38400, 19200, 14400, 9600, 4800
XXX_Period: NMEA sentence output period
DGPS_Mode : 0 (disable), 1 (RTCM), 2 (SBAS)
Datum: We support more than 200 datum. Please refer to Appendix A for the supported datum list.
The typical value is: 0 (WGS84), 1 (Tokyo-M), 2 (Tokyo-A)
Example:
$PMTK390,0,1,38400,1,1,1,1,1,1,1,0,0,2,9600*0A<CR><LF>
Reply:
$PMTK001,390,3
Keep the lockbit zero. If you enable lockbit, you might corrupt the firmware!
This message applies only for MT332X based IT500, IT520 and UP501.
2.35.1 Setting 4800 baud rate permanently
This setting is not supported with UP500 AGPS enabled firmware. 5Hz is the maximum rate that can be set
for navigation with this command.
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Please note that with the default NMEA message mask, the 4800 baud rate is not enough in conditions where
there are many tracked satellites. GSV messages might have four lines and exceed the capacity of 4800
bit/second.
$PMTK390,0,1,4800,0,1,0,1,1,1,0,0,0,2,9600*38
and back to default 9600:
$PMTK390,0,1,9600,0,1,0,1,1,1,0,0,0,2,4800*38
Command PMTK390 settings are stored to non-volatile flash memory. It is restricted to allow only 8 setting
changes per module. If exceeding the limit, settings cannot be changed until the module is re-flashed.
This message applies only for MT332X based IT500, IT520 and UP501.
2.36 PMTK740 SET UTC TIME
Command purpose:
Init UTC time. Please do not use local time, which has time-zone offset.
To have faster TTFF, the accuracy of reference UTC should be less than 3 seconds.
Command number: 740
DataField:
PMTK740,YYY,MM,DD,hh,mm,ss*CS<CR><LF>
YYYY: year in 4 digits, range >1980
MM: month, range 1 – 12
DD: day, range 1 – 31
hh: hour, range 0 – 23
mm: minute, range 0 – 59
ss: second, range 0 – 59
CS: Checksum
Example:
$PMTK740,2012,9,28,10,29,00*09<CR><LF>
Reply:
$PMTK001,740,3*33<CR><LF>
This message applies only for MT333X based receivers IT530, IT530M, UC530 and UC530M.
2.37 PMTK741 SET INITIAL POSITION AND TIME
Command purpose:
Initialize position and UTC in cold starts. To have faster TTFF, the accuracy of the location should be better than
30km.
The accuracy of reference UTC should be less than 3 seconds.
Command number: 741
DataField:
PMTK741,Lat,Long,Alt,YYYY,MM,DD,hh,mm,ss*CS<CR><LF>
Lat: WGS84 geodetic latitude. Note: suggest to express this value in floating-point with 6 decimal
points, Minus:south; Plus: north, Range -90.0 ~90.0
Long: WGS84 geodetic longitude. Note: suggest to express this value in floating-point with 6 decimal
points, Minus:west; Plus: east, Range -180.0 ~180.0
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Alt: WGS84 ellipsoidal altitude in meters.
YYYY: year in 4 digits, range >1980
MM: month, range 1 – 12
DD: day, range 1 – 31
hh: hour, range 0 – 23
mm: minute, range 0 – 59
ss: second, range 0 – 59
CS: Checksum
Example:
$PMTK741,24.772816,121.022636,160,2012,9,28,10,29,00*29<CR><LF>
Reply:
$PMTK001,741,3*32<CR><LF>
This message applies only for MT333X based receivers IT530, IT530M, UC530 and UC530M.
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3 Query commands
These commands are for querying the settings on the receiver.
3.1
PMTK400 API Q FIX CTL
Command purpose:
Query Position fix interval.
Command number: 400
DataField: None
Return:
$PMTK500,1000,0,0,0.0,0.0*1A
Example:
$PMTK400*36<CR><LF>
3.2
PMTK401 API Q DGPS MODE
Command purpose:
Query DGPS mode.
Command number: 401
DataField: None
Return:
$PMTK501,2*28
Example:
$PMTK401*37<CR><LF>
3.3
PMTK413 API Q SBAS ENABLED
Command purpose:
Query SBAS status.
Command number: 413
DataField: None
Return:
$PMTK513,1*28
Example:
$PMTK413*34<CR><LF>
3.4
PMTK414 API Q NMEA OUTPUT
Command purpose:
Query current NMEA sentence output frequencies.
Command number: 414
DataField: None
Return:
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$PMTK514,0,1,1,1,1,1,0,0,0,0,0,0,0,0,0,0,0,0,0*2F
Example:
$PMTK414*33<CR><LF>
3.5
PMTK430 API Q DATUM
Command purpose:
Query default datum.
Command number: 430
DataField: None
Return:
$PMTK530,0*28
Example:
$PMTK430*35<CR><LF>
3.6
PMTK431 API Q DATUM ADVANCE
Command purpose:
Query user defined datum.
Command number: 431
DataField: None
Return:
$PMTK001,431,2*37
Example:
$PMTK431*34<CR><LF>
Reply:
$PMTK530,6377397.155,299.152812800,-148.0,507.0,685.0*11
3.7
PMTK490 API GET USER OPTION
Command purpose:
Returns the current user setting from the flash memory.
Command number: 490
DataField: None
Return:
PMTK590 DT FLASH USER OPTION
Example:
$PMTK490*3F<CR><LF>
Reply:
$PMTK590,8,1,9600,0,1,0,1,1,1,0,0,0,0,9600*37
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4 Firmware STATUS
4.1
PMTK605 QUERY FIRMWARE INFO
Command purpose:
Query the firmware release information.
Command number: 605
DataField: NONE
Return:
PMTK705 DT RELEASE
Example:
$PMTK605*31<CR><LF>
Reply:
$PMTK705,AXN_1.50,1139,Fastrax IT500,*6C
4.2
PMTK607 QUERY EPO STATUS
Command purpose:
Query the status of EPO file loaded into flash memory.
Command number: 607
DataField:
‘0’ Status
Example:
$PMTK607,0*2F<CR><LF>
Reply:
PMTK707,56,1565,345600,1567,324000,1565,367200,1565,367200*1E
Explanation:
Receive: PMTK_DT_EPO_INFO
Number Epoch:56
First Epoch Week:1565
First Epoch TOW:345600
Final Epoch Week:1567
Final Epoch TOW:324000
Crnt Min Epoch Week:1565
Crnt Min Epoch TOW:388800
Crnt Max Epoch Week:1565
Crnt Max Epoch TOW:388800
4.3
PMTK660 Q AVAILABLE SV EPH
Command purpose:
Query valid ephemeris after specified interval.
Support PMTK660 which report valid ephemeris SV
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Host -> MT3329: A PMTK660 command to request the EPH info, together with a time interval
parameter
(for example, 1800sec).
(b) MT3329 -> Host: Reply 32-bit flags of 32SV to indicate which EPHs will be available after the specified
time interval.
Command number: 660
(11)
DataField:
PMTK660, Time interval
Time interval: Set the time interval for MT3329 to reply 32-bit flags of 32SV. Note that the Time interval > 0 and
<= 7200 (2 hours).
Example:
$PMTK660,1800*17<CR><LF>
Reply:
$PMTK001,660,3,40449464*17<CR><LF>
The Hex 40449464 means 01000000010001001001010001100100 and the Valid SV’s numbers are
2,10,14,17,20,22,26,27,30.
4.4
PMTK661 Q AVAILABLE SV ALM
Command purpose:
Query valid almanac after specified interval.
(a) Host -> MT3329: A PMTK661 command to request the almanac info, together with a time interval
parameter (for example, 30 days).
(b) MT3329 -> Host: Reply 32-bit flags of 32SV to indicate which almanac will be available after the
specified time interval.
Command number: 661
DataField:
PMTK661, Time interval
Time interval: Set the time interval for MT3329 to reply 32-bit flags of 32SV. Note that the Time interval > 0
Example:
Indicate which almanac will be available after 30 days
$PMTK661,30*1C<CR><LF>
Reply:
$PMTK001,661,3,fec0bfff*49<CR><LF>
The Hex fec0bfff means 11111110110000001011111111111111 and the Valid SV’s numbers are
1,2,3,4,5,6,7,9,10,17,19,20,21,22,23,24,25,26,27,28,29,30,31,32.
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5 FIX Valid Flag
This chapter concerns only the UP500 antenna module.
It is important to note that the current UP500 receiver firmware output position coordinates in RMC and
GGA messages even if the position is flagged as invalid in the NMEA RMC message.
This is contrary to most other GPS receivers, and the consequence is that a trace displayed on a map might look
inaccurate. The advantage for some applications is that you do get some kind of position even if you know the
output is not validated.
This is a feature that can very easily be filtered by monitoring Valid "A“ ”lag and invalid "V“ ”lag in the RMC
message.
Here is an example of a NOT VALID output fix:
$GPRMC,000040.026,V,6016.3376,N,02458.3604,E,0.00,0.00,060180,,,N*73
$GPVTG,0.00,T,,M,0.00,N,0.00,K,N*32
$GPGGA,000041.026,6016.3376,N,02458.3604,E,0,0,,130.5,M,19.5,M,,*42
$GPGSA,A,1,,,,,,,,,,,,,,,*1E
$GPGSV,1,1,00*79
And here is an example of a VALID output fix:
$GPRMC,065343.000,A,6016.3204,N,02458.3279,E,0.02,0.00,190309,,,A*69
$GPVTG,0.00,T,,M,0.02,N,0.03,K,A*3C
$GPGGA,065344.000,6016.3206,N,02458.3278,E,1,7,1.06,29.3,M,19.5,M,,*6A
$GPGSA,A,3,03,22,16,21,27,06,08,,,,,,1.33,1.06,0.81*01
$GPGSV,3,1,12,06,66,201,48,03,65,236,48,22,56,163,48,21,30,090,42*7E
$GPGSV,3,2,12,37,21,183,,08,14,331,34,16,13,204,33,27,09,026,33*76
$GPGSV,3,3,12,07,03,296,30,19,,,45,18,,,48,15,,,37*4C
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NMEA Manual based on MediaTek chipset - Manual
6 Appendix A
No
Datum
Region
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
WGS1984
Tokyo
Tokyo
User Setting
Adindan
Adindan
Adindan
Adindan
Adindan
Adindan
Adindan
Afgooye
Ain El Abd1970
Ain El Abd1970
American Samoa1962
Anna 1 Astro1965
Antigua Island Astro1943
Arc1950
Arc1950
Arc1950
Arc1950
21
Arc1950
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
Arc1950
Arc1950
Arc1950
Arc1950
Arc1960
Arc1960
Arc1960
Ascension Island1958
Astro Beacon E 1945
Astro Dos 71/4
Astro Tern Island (FRIG) 1961
Astronomical Station 1952
Australian Geodetic 1966
Australian Geodetic 1984
Ayabelle Lighthouse
Bellevue (IGN)
Bermuda 1957
Bissau
Bogota Observatory
Bukit Rimpah
Camp Area Astro
Campo Inchauspe
Canton Astro1966
Cape
Cape Canaveral
Carthage
Chatham Island Astro1971
Chua Astro
International
Japan
Mean For Japan, South Korea, Okinawa
User Setting
Burkina Faso
Cameroon
Ethiopia
Mali
Mean for Ethiopia, Sudan
Senegal
Sudan
Somalia
Bahrain
Saudi Arabia
American Samoa Islands
Cocos Island
Antigua(Leeward Islands)
Botswana
Burundi
Lesotho
Malawi
Mean for Botswana, Lesotho, Malawi, Swaziland, Zaire,
Zambia, Zimbabwe
Swaziland
Zaire
Zambia
Zimbabwe
Mean for Kenya Tanzania
Kenya
Tamzamia
Ascension Island
Iwo Jima
St Helena Island
Tern Island
Marcus Island
Australia, Tasmania
Australia, Tasmania
Djibouti
Efate and Erromango Islands
Bermuda
Guuinea-Bissau
Colombia
Indonesia(Bangka and Belitung Ids)
Antarctica(McMurdi Camp Area)
Argentina
Phoenix Island
South Africa
Bahamas, Florida
Tunisia
New Zealand(Chatham Island)
Paraguay
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NMEA Manual based on MediaTek chipset - Manual
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
Corrego Alegre
Dabola
Deception Island
Djakarta (Batavia)
Dos 1968
Easter Island 1967
Estonia Coordinate System1937
European 1950
European 1950
European 1950
European 1950
European 1950
European 1950
European 1950
European 1950
European 1950
European 1950
67
European 1950
68
European 1950
69
European 1950
70
71
European 1950
European 1950
72
European 1979
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
Fort Thomas 1955
Gan 1970
Geodetic Dataum 1970
Graciosa Base SW1948
Guam1963
Gunung Segara
Gux l Astro
Herat North
Hermannskogel Datum
Hjorsey 1955
Hongkong 1963
Hu Tzu Shan
Indian
Indian
Indian
Indian 1954
Indian 1960
Indian 1960
Indian 1975
Indonesian 1974
Ireland 1965
ISTS 061 Astro 1968
ISTS 073 Astro 1969
Johnston Island 1961
Kandawala
Kerguelen Island 1949
Kertau 1948
Kusaie Astro 1951
Korean Geodetic System
UBX-13003181 - R16
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Brazil
Guinea
Deception Island, Antarctia
Indonesia(Sumatra)
New Georgia Islands (Gizo Island)
Easter Island
Estonia
Cyprus
Egypt
England, Channel Islands, Scotland, Shetland Islands
England, Ireland, Scotland, Shetland Islands
Finland, Norway
Greece
Iran
Italy (Sardinia)
Italy (Slcily)
Malta
Mean for Austria, Belgium,Denmark, Finland, France, W
Germany, Gibraltar, Greece, Italy, Luxembourg,
Netherlands, Norway, Portuga,l Spain, Sweden,
Switzerland
Mean for Austria, Debnmark,France, W Germany,
Netherland , Switzerland
Mean for Irag, Israel, Jordan, Lebanon, Kuwait, Saudi
Arabia, Syria
Portugal, Spain
Tunisia,
Mean for Austria, Finland ,Netherlands ,Norway, Spain,
Sweden, Switzerland
Nevis St Kitts (Leeward Islands)
Republic Of Maldives
New Zealand
Azores (Faial, Graciosa, Pico, Sao, Jorge, Terceria)
Guam
Indonesia (Kalimantan)
Guadalcanal Island
Afghanistan
Croatia-Serbia, Bosnia-Herzegoivna
Iceland
Hongkong
Taiwan
Bangladesh
India,Nepal
Pakistan
Thailand
Vietnam (Con Son Island)
Vietnam (Near 16 deg N)
Thailand
Indonesian
Ireland
South Georgia Islands
Diego Garcia
Johnston Island
Sri Lanka
Kerguelen Island
West Malaysia and Singapore
Caroline Islands
South Korea
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102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
LC5 Astro 1961
Leigon
Liberia 1964
Luzon
Luzon
M'P’raloko
Mahe 1971
Massawa
Merchich
Midway Astro 1961
Minna
Minna
Montserrat Island Astro 1958
Nahrwan
Nahrwan
Nahrwan
Naparima BWI
North American 1927
North American 1927
North American 1927
North American 1927
North American 1927
North American 1927
North American 1927
126
North American 1927
127
128
129
130
131
North American 1927
North American 1927
North American 1927
North American 1927
North American 1927
132
North American 1927
133
North American 1927
134
135
North American 1927
North American 1927
136
North American 1927
137
North American 1927
138
139
140
141
142
143
144
145
146
147
148
149
150
151
North American 1927
North American 1983
North American 1983
North American 1983
North American 1983
North American 1983
North American 1983
North Sahara 1959
Observatorio Meteorologico 1939
Old Egyptian 1907
Old Hawaiian
Old Hawaiian
Old Hawaiian
Old Hawaiian
UBX-13003181 - R16
Early Production Information
Cayman Brac Island
Ghana
Liberia
Philippines (Excluding Mindanao)
Philippines (Mindanao)
Gabon
Mahe Island
Ethiopia (Eritrea)
Morocco
Midway Islands
Cameroon
Nigeria
Montserrat (Leeward Island)
Oman (Masirah Island)
Saudi Arabia
United Arab Emirates
Trinidad and Tobago
Alaska (Excluding Aleutian Ids)
Alaska (Aleutian Ids East of 180 degW)
Alaska (Aleutian Ids West of 180 degW)
Bahamas (Except San Salvador Islands)
Bahamas (San Salvador Islands)
Canada (Alberta, British Columbia)
Canada (Manitoba, Ontario)
Canada (New Brunswick, Newfoundland, Nova Scotia,
Qubec)
Canada (Northwest Territories, Saskatchewan)
Canada (Yukon)
Canal Zone
Cuba
Greenland (Hayes Peninsula)
Mean for Antigua, Barbados, Barbuda, Caicos Islands,
Cuba, Dominican, Grand Cayman, Jamaica, Turks
Islands
Mean for Belize, Costa Rica, El Salvador, Guatemala,
Honduras,
Nicaragua
Mean for Canada
Mean for Conus
Mean for Conus (East of Mississippi, River Including
Louisiana,Missouri, Minnesota)
Mean for Conus (West of Mississippi, Rive Excluding
Louisiana, Minnesota, Missouri)
Mexico
Alaska (Excluding Aleutian Ids)
Aleutian Ids
Canada
Conus
Hahawii
Mexico, Central America
Algeria
Azores (Corvo and Flores Islands)
Egypt
Hawaii
Kauai
Maui
Mean for Hawaii, Kauai, Maui, Oahu
Page 36 of 41
NMEA Manual based on MediaTek chipset - Manual
152
153
154
155
Old Hawaiian
Oman
Ordnance Survey Great Britian 1936
Ordnance Survey Great Britian 1936
156
Ordnance Survey Great Britian 1936
157
158
159
160
161
162
163
164
165
166
167
168
169
Ordnance Survey Great Britian 1936
Ordnance Survey Great Britian 1936
Pico de las Nieves
Pitcairn Astro 1967
Point 58
Pointe Noire 1948
Porto Santo 1936
Provisional South American 1956
Provisional South American 1956
Provisional South American 1956
Provisional South American 1956
Provisional South American 1956
Provisional South American 1956
170
Provisional South American 1956
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
Provisional South American 1956
Provisional South American 1956
Provisional South Chilean 1963
Puerto Rico
Pulkovo 1942
Qatar National
Qornoq
Reunion
Rome 1940
S-42 (Pulkovo 1942)
S-42 (Pulkovo 1942)
S-42 (Pulkovo 1942)
S-42 (Pulkovo 1942)
S-42 (Pulkovo 1942)
S-42 (Pulkovo 1942)
S-42 (Pulkovo 1942)
S-JTSK
Santo (Dos) 1965
Sao Braz
Sapper Hill 1943
Schwarzeck
Selvagem Grande 1938
Sierra Leone 1960
South American 1969
South American 1969
South American 1969
South American 1969
South American 1969
South American 1969
South American 1969
South American 1969
202
South American 1969
203
204
South American 1969
South American 1969
UBX-13003181 - R16
Early Production Information
Oahu
Oman
England
England, Isle of Man, Wales
Mean for England ,Isle of Man, Scotland, Shetland
Island, Wales
Scotland, Shetland Islands
Wales
Canary Islands
Pitcairn Island
Mean for Burkina Faso and Niger
Congo
Porto Santo, Maderia Islands
Bolovia
Chile (Northern Near 19 deg S)
Chile (Southern Near 43 deg S)
Colombia
Ecuador
Guyana
Mean for Bolivia Chile,Colombia, Ecuador, Guyana,
Peru, Venezuela
Peru
Venezuela
Chile (Near 53 deg S) (Hito XVIII)
Puerto Rico, Virgin Islands
Russia
Qatar
Greenland (South)
Mascarene Island
Italy (Sardinia)
Hungary
Poland
Czechoslavakia
Lativa
Kazakhstan
Albania
Romania
Czechoslavakia (Prior 1 Jan1993)
Espirito Santo Island
Azores (Sao Miguel, Santa Maria Ids)
East Falkland Island
Namibia
Salvage Islands
Sierra Leone
Argentina
Bolivia
Brazial
Chile
Colombia
Ecuador
Ecuador (Baltra, Galapagos)
Guyana
Mean for Argentina, Bolivia, Brazil,Chile, Colombia,
Ecuador, Guyana, Paraguay, Peru, Trinidad and Tobago,
Venezuela
Paraguay
Peru
Page 37 of 41
NMEA Manual based on MediaTek chipset - Manual
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
South American 1969
South American 1969
South Asia
Tananarive Observatory 1925
Timbalai 1948
Tokyo
Tokyo
Tokyo
Tokyo
Tristan Astro 1968
Viti Levu 1916
Voirol 1960
Wake Island Astro 1952
Wake-Eniwetok 1960
WGS 1972
WGS 1984
Yacare
Zanderij
Trinidad and Tobago
Venezuela
Singapore
Madagascar
Brunei, E Malaysia (Sabah Sarawak)
Japan
Mean for Japan, South Korea, Okinawa
Okinawa
South Korea
Tristam Da Cunha
Fiji (Viti Levu Island)
Algeria
Wake Atoll
Marshall Islands
Global Definition
Global Definition
Uruguay
Suriname
Table 2: Map datums
Related documents
[1]
NMEA0183 specification.
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NMEA Manual based on MediaTek chipset - Manual
Revision history
Revision
Date
Name
Status / Comments
1.0
1.1
02.June.2009
09.Jun.2009
kkai
kkai
1.2
15.Sep.2009
kkai
1.3
1.4
1.5
09.Oct.2009
20.Nov.2009
17.Feb.2010
kkai
kkai
kkai
1.6
18.Apr.2010
kkai
1.7
1.8
21.Jul.2010
31.Aug.2011
kkai
kkai
1.9
23.Feb.2012
kkai
Initial release
Added chapters 2.9.1 and 2.92. Fixed some typos. Added notes to
2.14.2 and 2.14.3.
Added numbering into command title. Removed chapter 2.14.2 and
2.14.3.
Added description of default output messages.
Some changes to command 300 text.
Addition to GGA message status field.
Added clear EPO and query EPO status commands.
Integrated reply messages to configuration commands.
GGA message fix valid indicator values updated.
Note for enabling SBAS with PMTK313.
Added note about supported NMEA messages.
Added datums. Fixed PMTK30x responses.
PMTK390: modified msg support.
Changed lockbit to zero on example.
Added message descriptions:
GLL – Geographic position
VTG – Course and speed
ZDA – Time and date
Added support to IT530 specific commands and messages.
PMTK010 added two items.
PMTK127 Clear EPO file.
PMTK161 Enter standby mode.
PMTK120 Clear Flash aid.
PMTK225 Set Periodic Mode.
PMTK286 Enable AIC.
PMTK300 Set Fix Interval.
PMTK352 Set QZSS support.
PMTK183 LOCUS query logging status.
PMTK184 LOCUS erase flash.
PMTK185 LOCUS stop logger.
PMTK186 LOCUS log now.
PMTK869 Enable or disable EASY
Some notes added to PMTK225 Set Periodic Mode. Notes added on
messages that are not supported in all IT500 series receivers. Corrected
checksum on examples.
Added messages:
PMTK223 SET AL DEE CFG
PMTK351 SET support for QZSS NMEA format
PMTK352 SET QZSS SUPPORT
PMTK353 API SET GNSS SEARCH MODE
PMTK386 API SET STATIC NAV THD MT333X
PMTK740 SET UTC TIME
PMTK741 SET INITIAL POSITION AND TIME
Added GNSS message support to default output messages.
Converted to u-blox version
Update format of satellites number in GGA message. Update some
return messages of PMTK commands.
Corrected checksum of To Disable EASY command (PMTK869),
corrected PMTK352 command description.
2.0
kkai
2.1
A
A1
31.Jan.2013
11.Jun.2013
kkai
julu
julu
A2
05.Aug.2013
julu
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NMEA Manual based on MediaTek chipset - Manual
R16
09.Oct.2013
UBX-13003181 - R16
julu
Changed to UBX document number, last revision with old document
number FTX-HW-13002. Updated layout.
Section 1: Added IT530M/UC530M receiver specific talker ID related
contents.
Section 1.6: Updated IT530M/UC530M hybrid modules related GSV
talker ID and added relevant output message example.
Section 1.7: Updated IT530M/UC530M hybrid module related GSA
talker ID.
Section 2.11: Updated the reply message of command PMTK 161.
Section 2.24 PMTK301: Changed “WAAS” to” SBAS” related to DGPS
correction data source mode.
Early Production Information
Page 40 of 41
NMEA Manual based on MediaTek chipset - Manual
Contact
For complete contact information visit us at www.u-blox.com
u-blox Offices
North, Central and South America
u-blox America, Inc.
Phone:
+1 (703) 483 3180
E-mail:
info_us@u-blox.com
Regional Office West Coast:
Phone:
+1 (703) 483 3184
E-mail:
info_us@u-blox.com
Headquarters
Europe, Middle East, Africa
u-blox AG
Phone:
+41 44 722 74 44
E-mail:
info@u-blox.com
Support: support@u-blox.com
Technical Support:
Phone:
E-mail:
+1 (703) 483 3185
support_us@u-blox.com
Asia, Australia, Pacific
u-blox Singapore Pte. Ltd.
Phone:
+65 6734 3811
E-mail:
info_ap@u-blox.com
Support: support_ap@u-blox.com
Regional Office Australia:
Phone:
+61 2 8448 2016
E-mail:
info_anz@u-blox.com
Support: support_ap@u-blox.com
Regional Office China (Beijing):
Phone:
+86 10 68 133 545
E-mail:
info_cn@u-blox.com
Support: support_cn@u-blox.com
Regional Office China (Shenzhen):
Phone:
+86 755 8627 1083
E-mail:
info_cn@u-blox.com
Support: support_cn@u-blox.com
Regional Office India:
Phone:
+91 959 1302 450
E-mail:
info_in@u-blox.com
Support: support_in@u-blox.com
Regional Office Japan:
Phone:
+81 3 5775 3850
E-mail:
info_jp@u-blox.com
Support: support_jp@u-blox.com
Regional Office Korea:
Phone:
+82 2 542 0861
E-mail:
info_kr@u-blox.com
Support: support_kr@u-blox.com
Regional Office Taiwan:
Phone:
+886 2 2657 1090
E-mail:
info_tw@u-blox.com
Support: support_tw@u-blox.com
UBX-13003181 - R16
Early Production Information
Page 41 of 41
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