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Swarm M138, Product Manual

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$GS - GPS Fix Quality

Set or query the rate for

$GS

unsolicited report messages for GPS fix quality. Also can retrieve

the most current

$GS

message..

$GS <@|?|<rate>>*xx

Parameter

Description

@

Repeat most recent

$GS

message

?

Query current

$GS

rate

rate

Disable or set rate of

$GS

messages

Returns one of:

Parameter

Description

$GS
<hdop>,<vdop>,<gnss_sats>,<unused>,
<fix>*xx

The most recent

$GS

message

$GS <rate>*xx

The current

$GS

rate

$GS OK*xx

Parameters updated successfully

$GS ERR,<error_type>*xx

Command input error

© 2022 SWARM TECHNOLOGIES 

SWARM M138 MODEM PRODUCT MANUAL · REV 1.20 · FEBRUARY 2022      

PAGE 

52

Summary of Contents for M138

Page 1: ...Swarm M138 Modem PRODUCT MANUAL Revision 1 20 February 2022 2022 Swarm Technologies Inc ...

Page 2: ... FAILS OF ITS ESSENTIAL PURPOSE FURTHER THE LIMITED WARRANTY COVERS THE SWARM M138 MODEM INCLUDING HARDWARE SOFTWARE AND OR FIRMWARE AND ACCESSORIES ONLY AND NO WARRANTY IS MADE AS TO USER INFORMATION AND OR COVERAGE AVAILABILITY OR GRADE OF SERVICE PROVIDED BY SWARM SEPARATELY FOR SWARM SATELLITE SERVICES IN NO EVENT SHALL SWARM BE LIABLE WHETHER IN CONTRACT OR TORT OR ANY OTHER LEGAL THEORY INCL...

Page 3: ...hted Swarm and third party software Any such copyrighted software contained in Swarm products may not be modified reverse engineered distributed or reproduced in any manner to the extent provided by law The purchase of any Swarm products shall not be deemed to grant either directly or by implication or otherwise any license under copyrights patents or patent applications of Swarm or any third part...

Page 4: ...GP command description Updated M138 Modem images Updated regulatory information 1 11 01 20 22 Added antenna guidance to Section 6 1 20 02 15 22 Updated power characteristics for all M138 operating modes Updated RSSI_bkgnd operating range Updated GPIO1 mode description GPS Cold Warm start flowchart and timings 1pps pin removed MT L U command option removed Updated capacitance and inductance table 2...

Page 5: ... Modem Pin Allocation 14 4 3 DC Power Interface 16 4 4 Power On Off Control 19 4 5 Serial Data Interface 19 4 6 LED Indicators 20 5 Design Guidance 21 5 1 Input Connections 21 5 2 Decoupling and Feed through Capacitors 21 5 3 Input Voltage Examples 22 5 4 Communications 24 5 4 1 Level Shifting 25 5 5 Example Power Regulation Design 26 6 RF Interfaces 28 6 1 RF Connectors 28 6 2 RF Antenna 28 6 2 1...

Page 6: ... GJ GPS Jamming Spoofing Indication 43 GN Geospatial Information 45 GP GPIO1 Control Status 48 GS GPS Fix Quality 52 MM Messages Received Management 2 way operation 55 MT Messages to Transmit Management 59 PO Power Off 62 PW Power Status 63 RD Receive Data Unsolicited Message 65 RS Restart Device 66 RT Receive Test 67 SL Sleep mode 70 M138 Modem Status Unsolicited Message 73 TD Transmit data 74 20...

Page 7: ...levision reception which can be determined by turning the equipment off and on the user is encouraged to try to correct the interference by one of the following measures Reorient or relocate the receiving antenna Increase the separation between the equipment and receiver Connect the equipment into an outlet on a circuit different from that to which the receiver is connected Consult the dealer or a...

Page 8: ... applicables aux appareils radio exempts de licence L exploitation est autorisée aux deux conditions suivantes 1 l appareil ne doit pas produire de brouillage 2 l appareil doit accepter tout brouillage radioélectrique subi même si le brouillage est susceptible d en compromettre le fonctionnement 1 2 2 IC ID The IC ID for the Swarm M138 Modem is 25817 M138 All manufacturers integrating the Swarm M1...

Page 9: ...regulatory certified product that meets FCC IC and CE requirements Table 1 below is a partial list of regulatory approvals Regulatory Approvals Radio Tests EMC Tests Safety Tests FCC FCC CFR47 Parts 2 15 and 25 IC Industry Canada RSS170 Issue 2 March 2011 CE ETSI EN 301 721 V2 1 1 2016 05 ETSI EG203 367 V1 1 1 CISPR 16 23 2010 A1 2010 EN 55032 2012 EN 6100 4 2 EN55024 2010 EN 6100 4 3 EN55024 2010...

Page 10: ...sting PCB design The Swarm Modem communicates via a standard 3 3V CMOS serial UART interface or a PC interface with a USB to serial converter Category Description Components GPS VHF radio with integrated T R switch U FL connector for GPS and VHF antenna indicator LEDs 3 3V serial interface 3 3V GPIO Onboard Sensors uBLOX GPS lat lon alt CPU Temperature Dimensions and Mass 51 0 mm x 30 0 mm x 5 3 m...

Page 11: ...m and its weight are summarized below Parameter Value Length 51 0 mm Width 30 0 mm Height 5 3 0 1 mm Weight 9 6 g Table 3 Modem Mechanical Dimensions and Weight Figure 1 Modem front and back views 2022 SWARM TECHNOLOGIES SWARM M138 MODEM PRODUCT MANUAL REV 1 20 FEBRUARY 2022 PAGE 11 ...

Page 12: ...ovide any weatherproofing for their application Parameter Value Operating Temperature Range 40 C to 85 C Storage Temperature Range 40 C to 85 C Operating Humidity Range 0 to 95 non condensing Storage Humidity Range 0 to 95 non condensing Table 4 Environmental Specifications 2022 SWARM TECHNOLOGIES SWARM M138 MODEM PRODUCT MANUAL REV 1 20 FEBRUARY 2022 PAGE 12 ...

Page 13: ...I shielding CAN is required if using a switching DC power supply in order to contain radiated emissions Additional filtering of the power supply is highly recommended See Design Guidance for best practices Data interface 3 3V Serial Data Interface Satellite signal Use the provided U FL connector labeled VHF GPS signal Use the provided U FL connector labeled GPS GPIO1 optional 2022 SWARM TECHNOLOGI...

Page 14: ...given in Tables 6 and 7 Multiple supply grounds are provided and all power pins supply grounds are required to be connected to the power supply in order to limit the current on any one pin Multiple signal grounds are provided to reduce cross talk Many pins are intentionally left empty and must be left unconnected Figure 4 Modem pinout and pin number 2022 SWARM TECHNOLOGIES SWARM M138 MODEM PRODUCT...

Page 15: ... unbuffered and connected directly to a GPIO on the Modem processor Configuration will be provided via serial commands GPIO1 pin is 3 3V tolerant and open drain with a sink current limit of 8 mA 20 mA with a relaxed VOL VOH 2 39 41 52 The VDD connection points are in parallel with one another and power the Modem If the designer wants to enable a complete power off mode a load switch can be provide...

Page 16: ...smitter on 750 850 1000 mA ICC 4 2V Current consumption Sleep Mode 100 μA Current consumption Receiver Active 23 26 40 mA Current consumption GPS Acquisition Mode 40 45 55 mA Current consumption Transmitter on 640 700 800 mA ICC 5 0V Current consumption Sleep Mode 110 μA Current consumption Receiver Active 23 26 45 mA Current consumption GPS Acquisition Mode 40 45 55 mA Current consumption Transmi...

Page 17: ...ow in Figure 5 Figure 5 Example current use for a Modem with a 3 3 V input from wake up GPS acquisition Transmit Receive mode and then sleep mode Note the two breaks in the y axis scale 2022 SWARM TECHNOLOGIES SWARM M138 MODEM PRODUCT MANUAL REV 1 20 FEBRUARY 2022 PAGE 17 ...

Page 18: ... messages this is the minimum amount of time that will pass before the Modem will attempt another transmission Table 9 Sample Modem transmission characteristics for sending a user payload of 192 bytes Modem provided with 3 3V input Other electrical characteristics of the Modem can be found below Parameter Value Maximum power at antenna connector 1 122 W Sum total of all capacitance 255 μF Sum tota...

Page 19: ...erial Data Interface The serial data interface is a CMOS serial UART 3 wire serial Rx serial Tx and ground interface at 3 3V digital signal levels over which the Modem transfers commands responses and message data The serial communication parameters can be found below Parameter Value Baud Rate 115200 Data Bits 8 Bits Parity None Stop bits 1 Bit Flow Control None Table 11 Serial communication param...

Page 20: ... indication that the Modem is working as expected Red After power is applied until the Modem begins booting the red LED will be on solid for 10 seconds After bootup and while the Modem is acquiring a GPS fix the red LED will flash quickly until a valid GPS fix has been found Then the red LED will shut off during normal operation After waking up from sleep and before a fresh GPS fix has been acquir...

Page 21: ...d their part numbers Many vendors and styles exist from vendors such as DigiKey Mouser Newark Example Connectors Example Retaining Clips JAE MM60 52B1 B1 R850 JAE MM60 EZH039 B5 R850 TE Connectivity 2041119 2 TE Connectivity 1717832 2 Altium footprints with correct connector retaining clip spacing can be found in our Developer Tools 5 2 Decoupling and Feed through Capacitors We require a minimum a...

Page 22: ...or switching regulator depending on the user s requirements The Modem has an on board boost regulator with an input voltage range of 3 0V to 5 0V Most customers are operating remotely and use switching regulators for high efficiency and battery applications We have provided example parts below The customer can use these as a baseline for starting their own designs using other suppliers 2022 SWARM ...

Page 23: ... current protection Proper layout and design of switching regulators are critical to reduce conducted and radiated emission on board These are often coupled onto the power and antenna of the Modem increasing RSSI and impeding successful transmission We highly recommend an RF CAN over any switching regulator to eliminate the risk of radiated emissions from the switcher An example RF CAN and proper ...

Page 24: ... upgrade to future firmware versions and for debugging The Serial Debug Header requires the following connections SERIAL_RX SERIAL_TX and GND It is highly recommended that the designer use a 6 pin connector to easily accommodate a COTS TTL USB A to UART cable or Tag Connect for example Figure 6 Example of a Serial Debug Header shown on the Swarm Eval Board 2022 SWARM TECHNOLOGIES SWARM M138 MODEM ...

Page 25: ...ogic systems will require level shifting There are many methods to level shift a signal ranging from simple mosfets and resistors to dedicated IC s to handle the operation Level shifting should be bi directional 2022 SWARM TECHNOLOGIES SWARM M138 MODEM PRODUCT MANUAL REV 1 20 FEBRUARY 2022 PAGE 25 ...

Page 26: ...Schematic of a buck boost solar charger design for a Swarm Modem integration Full schematic for the Swarm Eval kit available at https swarm space developertools 2022 SWARM TECHNOLOGIES SWARM M138 MODEM PRODUCT MANUAL REV 1 20 FEBRUARY 2022 PAGE 26 ...

Page 27: ...s A 6 pin serial programming header upper left of image is highly encouraged so that the Modem firmware can be easily updated in the future Qty 3 18650 lithium rechargeable batteries in parallel are used in this reference design The circuit fits into BUD Industries IP68 waterproof case Model PU 16533 C with the use of 4 standoffs 2022 SWARM TECHNOLOGIES SWARM M138 MODEM PRODUCT MANUAL REV 1 20 FEB...

Page 28: ...onnector that is directly attached to the Modem A Swarm VHF antenna must be used to ensure that the antenna is tuned appropriately to make successful transmission to the Swarm satellites Swarm antennas are tuned for VSWR between Swarm Bands with a max Δ 0 5 6 2 RF Antenna For illustrative purposes a picture of the Swarm wave antenna is shown in Figure 9 Figure 9 Swarm Coiled Wave Antenna 2022 SWAR...

Page 29: ...ity condensable Impedance 50 Ohms nominal Polarization Linearly Polarized VSWR between Swarm Bands Max Δ 0 5 Gain 2 0 dBi Frequency 137 000 138 000 MHz Rx 148 000 150 000 MHz Tx Connector SMA male U FL to SMA female cable required Antenna Ground Plane Required see section 6 2 2 Antenna Height Requirement 1m above the ground solid surfaces Antenna Classification Mobile Fixed Minimum separation dist...

Page 30: ...um current must be powered by the user s host device Example u fl to SMA cable Example u fl to u fl cable Taoglas CAB 721 Wurth 636201050100 6 2 2 Ground Plane Requirements An antenna counterpoise or antenna ground plane is required for the Swarm Coiled Wave Antenna Ground planes are electrically conductive surfaces that are connected to the ground conductor of the antenna that serve as a reflecti...

Page 31: ...nna with a Swarm 9W solar panel serving as the required 30 x 30 cm ground plane off to one side Tested extensively in the field and works well 2022 SWARM TECHNOLOGIES SWARM M138 MODEM PRODUCT MANUAL REV 1 20 FEBRUARY 2022 PAGE 31 ...

Page 32: ...g red rapidly indicates it has not yet acquired a GPS fix a Touch the Modem s antenna with your hand or with another object The noise floor measurement should noticeably change b The Modem will not transmit until it has a GPS fix and it hears a Swarm Satellite There is no risk of the Modem transmitting during this procedure if the red LED is blinking rapidly 2022 SWARM TECHNOLOGIES SWARM M138 MODE...

Page 33: ... characters between the and xx The checksum conforms to the NMEA standard and does not include either the or the xx Messages with a bad checksum will fail to be parsed and produce the following response CMD ERR CMD_NMEACHECKSUMFAIL 21 A sample implementation of the NMEA checksum can be found below written in C A will never occur within a command and may be used to reset the receiving state machine...

Page 34: ...haracter command designator and the of the command can cause an error response ERR responses have the following syntax cmd ERR error_type xx Value Description cmd The two character command designation error_type Type of error encountered during command processing The follow error type messages will be provided Value Description CMD_BADPARAM Unrecognizable parameter after command CMD_BADPARAMLENGTH...

Page 35: ...s should be ignored and are for Swarm debugging purposes only GPS Date Time Reference The Modem will enter its GPS acquisition state once the boot up sequence is complete Please refer to Figure 11 for estimates of how long the Modem will take to acquire a valid date time reference The user application should not send any transmit data TD commands until the following NMEA sentence has been received...

Page 36: ...000 for commands to the device and 3000 for emergencies Swarm reserves Application ID values 65000 to 65535 for internal use Specifying an Application ID in the reserved range will result in unexpected operation and the messages may be lost See the TD Transmit Data command section in the command directory below for an example implementation of the Application ID Implementation of NMEA checksum in ...

Page 37: ...rol Status GS GPS Fix Quality Yes MM Messages Received Management 2 way operation MT Messages to Transmit Management PO Power Off PW Power Status Yes RD Receive Data Unsolicited Message Yes RS Restart Device RT Receive Test Yes SL Sleep Mode M138 Modem Status Unsolicited Message Yes TD Transmit Data Yes Table 15 Table of all Modem commands 2022 SWARM TECHNOLOGIES SWARM M138 MODEM PRODUCT MANUAL RE...

Page 38: ...orrect checksum has been provided below CS 10 Returns CS DI dev_ID DN dev_name xx Value Description dev_ID Device ID that identifies this device on the Swarm network dev_name Device type name Notes See the section Command responses for a description of error_type Example CS 10 CS DI 0x00e57 DN M138 43 The Device ID is 0x00e57 and the device is a M138 Modem 2022 SWARM TECHNOLOGIES SWARM M138 MODEM ...

Page 39: ...ate xx Parameter Description Repeat most recent DT message Query current DT rate rate Disable or set rate of DT messages Returns one of Value Description DT YYYY MM DD hh mm ss flag xx The most recent DT message DT rate xx The current DT rate DT OK xx rate updated successfully DT ERR error_type xx Command input error 2022 SWARM TECHNOLOGIES SWARM M138 MODEM PRODUCT MANUAL REV 1 20 FEBRUARY 2022 PA...

Page 40: ... 1 or 0 It will be the number of seconds in between each message If rate is 0 no messages will be sent If rate is valid no DT messages will be sent by the device until the GPS has obtained a valid time reference to set its internal date and time as indicated by the M138 DATETIME 56 message The valid flag will show V if the modem has acquired a valid time reference at least once since powering on 2...

Page 41: ...ave to be valid to call the most recent date time message Setting the rate of date time messages DT 300 03 DT OK 34 Sets the rate of date time messages to one message every 300 seconds Querying the rate of date time messages DT 0f DT 60 36 Returns a rate of one message every 60 seconds 2022 SWARM TECHNOLOGIES SWARM M138 MODEM PRODUCT MANUAL REV 1 20 FEBRUARY 2022 PAGE 41 ...

Page 42: ...Value Description FV version_string xx The current firmware version FV ERR error_type xx Command input error Notes See the section Command responses for a description of error_type Example FV 10 FV 2021 07 16T00 10 21 v1 1 0 74 The firmware version on the device is 1 1 0 2022 SWARM TECHNOLOGIES SWARM M138 MODEM PRODUCT MANUAL REV 1 20 FEBRUARY 2022 PAGE 42 ...

Page 43: ...tate jamming_level xx The most recent GJ message GJ rate xx The current GJ rate GJ OK xx Parameters updated successfully GJ ERR error_type xx Command input error Parameter Description spoof_state 0 Spoofing unknown or detection deactivated 1 No spoofing indicated 2 Spoofing indicated 3 Multiple spoofing indications jamming_level Relative value ranging from 0 to 255 indicating how much carrier wave...

Page 44: ...ofing message GJ 6d GJ 1 23 31 Returns a spoof state of No spoofing indicated The carrier wave jamming level is 23 Setting the rate of GPS jamming spoofing messages GJ 3600 28 GJ OK 29 Sets the rate of GPS jamming spoofing messages to one message every 3600 seconds Querying the rate ofGPS jamming spoofing messages GJ 12 GJ 10 2c Returns a rate of one message every 10 seconds 2022 SWARM TECHNOLOGIE...

Page 45: ...n Repeat most recent GN message Query current GN rate rate Disable or set rate of GN messages Returns one of Value Description GN latitude longitude altitude course speed xx The most recent GN message GN rate xx The current GN rate GN OK xx Parameters updated successfully GN ERR xx Command input error 2022 SWARM TECHNOLOGIES SWARM M138 MODEM PRODUCT MANUAL REV 1 20 FEBRUARY 2022 PAGE 45 ...

Page 46: ... proceeds clockwise with 0 north 90 east 180 south and 270 west speed Speed in kilometers per hour 0 999 integer Notes See the section Command responses for a description of error_type rate is a value between 1 and 2147483647 231 1 It will be the number of seconds in between each message If rate is 0 no messages will be sent If rate is valid no GN messages will be sent by the device until the GPS ...

Page 47: ...course is 89 degrees and it is moving at 2 kilometers per hour Setting the rate of GPS messages GN 30 2a GN OK 2d Sets the rate of GPS messages to one message every 30 seconds Querying the rate of GPS messages GN 16 GN 15 2d Returns a rate of one message every 15 seconds 2022 SWARM TECHNOLOGIES SWARM M138 MODEM PRODUCT MANUAL REV 1 20 FEBRUARY 2022 PAGE 47 ...

Page 48: ...nd ADC modes ONLY Display current GPIO1 mode mode Set GPIO1 pin mode Returns one of Value Description GP volts V xx GPIO1 ADC reading in volts mode 1 GP H L xx GPIO1 digital input status mode 2 GP mode xx The current GP mode GP OK xx Parameters updated successfully GP ERR error_type xx Command input error 2022 SWARM TECHNOLOGIES SWARM M138 MODEM PRODUCT MANUAL REV 1 20 FEBRUARY 2022 PAGE 48 ...

Page 49: ...ad messages pending for user 1 9 Output low indicates unsent messages pending for transmit 2 10 Output high indicates unsent messages pending for transmit 2 11 Output low indicates unread or unsent messages 3 12 Output high indicates unread or unsent messages 3 13 Output low indicates sleep mode is active Otherwise output is high 4 14 Output high indicates sleep mode is active Otherwise output is ...

Page 50: ...will indicate if the Modem is holding at least one unread incoming message or at least one unsent outgoing message 4 If either of these modes are selected the pin will be set to the selected state after the user has issued the SL command The pin will return to the awake state only if the sleep mode is terminated by the wakeup time parameter being reached or alternatively if activity is detected on...

Page 51: ... 3 282V 44 The GPIO1 pin mode has an ADC reading of 3 282V Reading the GPIO1 pin in digital input mode GP 77 GP L 7b The GPIO1 pin mode is a logic low Setting the GPIO1 pin mode to input and wake on a high to low transition GP 2 05 GP OK 33 Sets the GPIO1 pin mode to input and wake on a high to low transition 2022 SWARM TECHNOLOGIES SWARM M138 MODEM PRODUCT MANUAL REV 1 20 FEBRUARY 2022 PAGE 51 ...

Page 52: ...most recent GS message Query current GS rate rate Disable or set rate of GS messages Returns one of Parameter Description GS hdop vdop gnss_sats unused fix xx The most recent GS message GS rate xx The current GS rate GS OK xx Parameters updated successfully GS ERR error_type xx Command input error 2022 SWARM TECHNOLOGIES SWARM M138 MODEM PRODUCT MANUAL REV 1 20 FEBRUARY 2022 PAGE 52 ...

Page 53: ...tial 2D solution D3 Differential 3D solution RK Combined GNSS dead reckoning solution TT Time only solution Notes See the section Command responses for a description of error_type rate is a value between 1 and 2147483647 231 1 It will be the number of seconds in between each message If rate is 0 no messages will be sent If rate is valid no GS messages will be sent by the device until the GPS has o...

Page 54: ... POSITION 4e message Calling the most recent geospatial information message GS 74 GS 109 214 9 0 G3 46 Returns an HDOP of 1 09 VDOP of 2 14 the device is using 9 GNSS satellites for this solution and it is a Standalone 3D solution Querying the rate of geospatial information messages GS 0b GS 120 07 Returns a rate of one message every 120 seconds 2022 SWARM TECHNOLOGIES SWARM M138 MODEM PRODUCT MAN...

Page 55: ...s read N D E Message notifications disabled D enabled E or query R msgID O N Read message ID msgID oldest O or newest N message Returns one of Parameter Description MM msg_count xx Number of messages read all deleted MM appID data msg_id es xx Response to reading a message MM MARKED msg_id xx msg_id marked as read successfully MM DELETED msg_id xx msg_id deleted successfully MM OK xx Message comma...

Page 56: ...total number of read and unread messages in response to the C command or the number of messages deleted in response to the D command appID is the application ID tag of the message data is in the same format as the original RD response returns msg_id is assigned by the device and is an unsigned 64 bit value comprised of the device ID a day of year counter and a message of day counter Responses that...

Page 57: ... received message MM R N 01 MM AI 10650 6578616d706c65206d657373616765 21990235111426 1584494275 52 The message msg_id 21990235111426 is returned The message was sent with the application ID 10650 The hexadecimal data returned is 6578616d706c65206d657373616765 in ascii example message The epoch seconds at which the Modem received the message is 1584494275 Date Time Wednesday March 18 2020 1 17 55 ...

Page 58: ...e no existing unread messages Enable message notifications MM N E 16 MM OK 24 Message notifications are now enabled Query message notifications MM N 6c MM N E 16 Message notifications are enabled 2022 SWARM TECHNOLOGIES SWARM M138 MODEM PRODUCT MANUAL REV 1 20 FEBRUARY 2022 PAGE 58 ...

Page 59: ...Response to listing a message MT DELETED xx msg_id deleted successfully MT OK xx Message command succeeded MT ERR error_type xx Command input error MT ERR DBX_INVMSGID xx Invalid message ID in D or L command MT ERR DBX_NOMORE xx No messages found Notes See the section Command responses for a description of error_type msg_count is a number indicating the number of messages that are unsent in respon...

Page 60: ...r counter and a message of day counter Responses that have a 0 as the message ID indicate that the message has not been placed in the queue and therefore has no ID The value should be treated as a simple arbitrary number 2022 SWARM TECHNOLOGIES SWARM M138 MODEM PRODUCT MANUAL REV 1 20 FEBRUARY 2022 PAGE 60 ...

Page 61: ...e unsent message msg_id 4428826476689 is returned The hexadecimal data returned is 68692066726f6d20737761726d in ascii hi from swarm The epoch seconds at which the Modem received the message is 1605639598 Date Time Tuesday November 17 2020 6 59 58 PM Deleting all unsent messages MT D U 15 MT 1 08 One message was deleted 2022 SWARM TECHNOLOGIES SWARM M138 MODEM PRODUCT MANUAL REV 1 20 FEBRUARY 2022...

Page 62: ...diately attempt to power off PO ERR error_type xx Command input error Notes The PO 1f command should be given anytime power is removed from the modem See the section Command responses for a description of error_type An OK response confirms that the Modem will shut down The user should disconnect power from the Modem at this point If left connected the Modem will draw approximately 3mA on its 3 3V ...

Page 63: ...Returns one of Parameter Description PW cpu_volts unused unused unused temp xx The most recent PW message PW rate xx The current PW rate PW OK xx Parameters updated successfully PW ERR error_type xx Command input error Parameter Description cpu_volts Voltage measured at input to the CPU unused Will always show as 0 00000 temp CPU Temperature in degrees C to one decimal point float 2022 SWARM TECHN...

Page 64: ...r status message PW 67 PW 3 28700 0 00000 0 00000 0 00000 28 0 3d Returns a CPU voltage of 3 287V and device temperature of 25 0 Setting the rate of power status messages PW 30 24 PW OK 23 Sets the rate of power status messages to one message every 30 seconds Querying the rate of power status messages PW 18 PW 900 1e Returns a rate of one message every 900 seconds 2022 SWARM TECHNOLOGIES SWARM M13...

Page 65: ...n appID Application ID tag of message rssi Received signal strength in dBm for packet integer snr Signal to noise ratio in dB for packet integer fdev Frequency deviation in Hz for packet integer data ASCII encoded data packet Example RD AI 6078 RSSI 84 SNR 12 FDEV 9 596f7527766520676f74206d61696c21 6e The received packet has an application ID of 6078 a rssi of 84 dBm a snr of 12 dB and a fdev of 9...

Page 66: ...age prior to restart Returns one of Value Description RS OK xx Command has been accepted and the device will immediately perform a hardware restart RS ERR error_type xx Command input error Notes See the section Command responses for a description of error_type An OK response confirms that the device will successfully restart No external power cycling is required Example RS 01 RS OK 25 M138 BOOT RE...

Page 67: ...iption RT RSSI rssi_sat SNR snr FDEV fdev TS time DI sat_id xx The most recent RT message from a satellite Appears independently of the rssi_background noise messages RT RSSI rssi_bkgnd xx The most recent RT message This is a measure of the background noise environment and is not related to rssi_sat RT rate xx The current RT rate RT OK xx Parameters updated successfully RT ERR error_type xx Comman...

Page 68: ...r a description of error_type rate is a value between 1 and 2147483647 231 1 It will be the number of seconds in between each message If rate is 0 no messages will be sent and no packets received from a satellite will be displayed For reliable performance the noise floor can be measured with an antenna connected to the device in the final built up configuration The rssi_bkgnd value reported by RT ...

Page 69: ...atellite s device ID is 0x000568 Setting the rate of receive test messages RT 1 17 RT OK 22 Sets the rate of receive test messages to one message every 1 second The format of these scheduled messages will be the simple noise floor message Any packets received from a satellite will be displayed as they are received independently of the RT rate Querying the rate of receive test messages RT 19 RT 5 1...

Page 70: ...s If the command is accepted the device will emit SL OK and enter sleep mode for the requested duration The U parameter is a time and optional date the device should sleep until and then wake If the date is not specified and the time to sleep until is less than the current time the time is presumed to be the next day For example if the current time is 11 00 00 and SL U 09 00 00 is issued the devic...

Page 71: ...0ppm so if the Modem is commanded to sleep for 100 hours the drift may result in the Modem actually sleeping in the range of 99 998 to 100 002 hours The user should be aware of this when selecting a sleep with a long duration If the GPIO1 pin is configured as an input to wake the Modem the sleep mode will be terminated if activity occurs on GPIO1 If the GPIO1 pin is configured as an output that in...

Page 72: ...L WAKE SERIAL 2019 04 11T18 57 45 1b Similarly if the GPIO1 pin is configured to wake on a high to low or low to high transition then on transition on the GPIO1 pin the Modem will also wake with a message such as SL WAKE GPIO 2019 04 11T18 57 55 0b Commanding the Modem to sleep until October 1st 2021 at 4 30 00 PM SL U 2021 10 01T16 30 00 06 SL OK 3b 2022 SWARM TECHNOLOGIES SWARM M138 MODEM PRODUC...

Page 73: ...e update was performed VERSION Current firmware version information DATETIME The first time GPS has acquired a valid date time reference POSITION The first time GPS has acquired a valid position 3D fix DEBUG Debug message data debug text ERROR Error message data error text Notes A data message follows the BOOT message to indicate the reason for the startup The POSITION message and DATETIME message...

Page 74: ... in epoch seconds optional if omitted same as hold_dur string data 1 to 192 bytes of data ASCII string 2 to 384 bytes hexadecimal written as ascii Notes See the section Command responses for a description of error_type In order to send a TD command you must first wait for a M138 DATETIME 56 response after power up The Modem must wait for a valid time in order to accept a transmit command All other...

Page 75: ...old duration OR expiration time too far in future maximum 13 months TD ERR CMD_TD_HOLDDURTOOSHORT xx Hold duration OR expiration time less than 60 seconds in future TD ERR CMD_TD_EXPIRATIONNOTANINT xx Expiration time not recognized as an integer epoch seconds format TD ERR CMD_TD_DATATOOLONG xx Message is too large to send TD ERR DBX_OUTGOINGFULL xx Outgoing message queue is full Maximum of 1024 m...

Page 76: ...th options are specified the hold_dur will be ignored The outgoing message queue is scanned periodically and messages may be removed from the outgoing queue at any time after the expiration time has passed without notice Application ID Value Description 0 to 64999 The application ID tag for the message Swarm reserves the use of application IDs between 65000 to 65535 hold_dur is the number of secon...

Page 77: ...le quotes e g Hello world It is permissible for the string to contain double quotes within the string e g Today is a new day If the data to be sent includes one or more character outside the 0x20 to 0x7e range then it must be specified as pairs of hex characters 0 9 A F a f and must be a multiple of 2 Sending Hello as hex would be 48656C6C6F Illegal characters or an odd number of characters will c...

Page 78: ...er cycling TD OK 5354468575855 2a 3 If the message has not expired due to time it was previously set to be held until 2 hours from when it was entered when the device hears a satellite pass overhead it attempts to send any messages in its outgoing queue Messages are scheduled to be sent in the order they were entered into the device e g first in outgoing queue first transmitted Each message heard ...

Page 79: ...SENT RSSI 103 SNR 2 FDEV 67 5354468575917 70 Sending a message from the device in ASCII that will expire on 2022 01 01T12 34 56 TD ET 1641040496 d Demo t 2021 02 26 15 01 22 seq 00020 45 TD OK 5354468575919 23 TD SENT RSSI 100 SNR 3 FDEV 437 5354468575919 4d Sending a message from the device in ASCII with application ID 3000 TD AI 3000 d Demo t 2021 02 26 15 33 22 seq 00021 52 TD OK 5354468575919 ...

Page 80: ... from the device in HEXASCII TD 49206C6F766520537761726D 4c TD OK 5354468575916 2c TD SENT RSSI 107 SNR 3 FDEV 199 5354468575916 69 2022 SWARM TECHNOLOGIES SWARM M138 MODEM PRODUCT MANUAL REV 1 20 FEBRUARY 2022 PAGE 80 ...

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