IFM CR3158, Operating Instructions Manual

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CR3158 mobileIoT gateway
10
4.6 GNSS (global navigation satellite system)
The device has a GNSS receiver. The device can forward the position data determined by the GNSS
receiver via the CAN bus or send it via the mobile network.
The device can evaluate signals from GPS, GLONASS and BeiDou satellites. Data from two
navigation systems can be evaluated simultaneously. This enhances the accuracy.
The GNSS data is accessed via the following objects:
Object Index Subindex Type Default Description
Positioning – an-
tenna status 0x3333 0x13 U8
ro — 0 = antenna damaged or missing
1 = antenna OK
Positioning – po-
sition data valid 0x3333 0x14 U8
ro — 0 = position data invalid (no position detec-
tion)
1 = position data valid (position detection)
Positioning – ac-
tive satellites 0x5220 0x00 U8
ro — Number of currently active satellites
Positioning –
mode (GNSS) 0x5200 0x00 U8
rw — 0 = GPS only
1 = GPS + GLONASS
2 = GPS + BEIDOU
3 = G BEIDOU
Positioning – lon-
gitude 0x5208 0x00 R32
ro — Longitude as a 32-bit floating point number
(decimal degrees)
Positioning – lati-
tude 0x5209 0x00 R32
ro — Latitude as a 32-bit floating point number
(decimal degrees)
Positioning – alti-
tude 0x520A 0x00 R32
ro — Height above mean sea level as a 32-bit
float (in mm)
Positioning –
speed over
ground 0x520B 0x00 R32
ro — Speed over ground as a 32-bit float (in m/s)
Positioning –
GPS odometer 0x520B 0x02 U32
ro — Total GNSS based distance as a 32-bit un-
signed integer (100 metres per bit)
Positioning – trig-
ger distance for
GPS odometer 0x520B 0x03 R32
ro — Distance in metres that the device has to be
moved to start the odometer count.
Positioning –
heading 0x520C 0x00 R32
ro — Course with respect to north as a 32-bit float
(decimal degrees).
Logging – cur-
rent GNSS posi-
tion 0x5200 0xF0 U8
rw — If this object is set to any value other than 0,
recording of the current GNSS position of
the device starts.
If the device has no GNSS reference point, it
waits for a reference point before logging the
position.
The flag remains on the written value until
the position has been recorded. It is then re-
set to 0.
The device can send this data via the CAN interface. The configuration is made via the following
objects:
Object Index Subindex Type Default Description
CANMode 0x4001 0x02 U8
rw — Bit 0: compatibility mode with device
CR3114 (1 s cycle)
Bit 1: forward device status via CAN bus (1 s
cycle)
Bit 2: forward complete GNSS data via
CAN bus (1 s cycle)
Bit 3: forward input/output data via CAN bus
(1 s cycle)
Bit 4: forward acceleration and gyroscope
data via CAN bus (100 ms cycle)