14
Checksum
*xx
(0) 3
3
2 digits.
Message terminator
<CR> <LF>
2
2
ASCII 13, ASCII 10.
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 software reset
$PNMRX101,,,,,,,,4,*xx :
Sets the fix procedure mode the cold start. This
will be valid after each reset, until this value is
changed.
