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Add hardware reference docs (A3981, K60, RYS352A) Allegro A3981 stepper motor driver: datasheet, KiCad symbols/footprint, 3D model (TSSOP-28). Two per G2 board, SPI-controlled, AUTO microstep. NXP MK60DN512VLQ10 (Kinetis K60): datasheet and 1300-page reference manual. Cortex-M4 96MHz MCU running the G2 firmware. Reyax RYS352A GPS module: datasheet and PAIR command guide. GPS receiver on the G2 board (used for auto-location/satellite lookup). All extracted as markdown + page images + vector SVGs for LLM context. Binary assets (PDFs, PNGs, SVGs, STEP, WRL) stored via git-lfs.
2026-02-14 18:36:42 -07:00
# Document Metadata
**Format:** PDF 1.7
**Author:** user
**Creator:** Microsoft® Word 2016
**Producer:** Microsoft® Word 2016
**Creation Date:** D:20240312171445+08'00'
**Mod Date:** D:20240312171445+08'00'
---
## Page 1
1
RYS352x
18-DEC-2023 56312E39
PAIR Command Guide
![Image 1 from page 1](pdf-image://page_1_img_1)
![Image 2 from page 1](pdf-image://page_1_img_2)
## Page 2
2
Contents
1
Introduction ................................................................................................................................................ 6
2
NMEA Protocol ......................................................................................................................................... 7
2.1.
Structure of NMEA Protocol Messages .............................................................................................. 7
2.2.
Standard Messages ........................................................................................................................... 9
2.2.2.
GGA ...................................................................................................................................... 11
2.2.3.
GSV ....................................................................................................................................... 13
2.2.4.
GSA ....................................................................................................................................... 14
2.2.5.
VTG ....................................................................................................................................... 16
2.2.6.
GLL ........................................................................................................................................ 17
2.2.7.
ZDA ....................................................................................................................................... 19
2.2.8.
GNS ...................................................................................................................................... 10
2.2.9.
GST ....................................................................................................................................... 13
2.2.10.
GRS ....................................................................................................................................... 14
2.2.11.
RLM ...................................................................................................................................... 15
2.3.
PAIR Messages ................................................................................................................................ 17
2.3.1.
Packet Type: 001 PAIR\_ACK .................................................................................................. 17
2.3.2.
Packet Type: 002 PAIR\_GNSS\_SUBSYS\_POWER\_ON ............................................................. 17
2.3.3.
Packet Type: 003 PAIR\_GNSS\_SUBSYS\_POWER\_OFF ............................................................ 18
2.3.4.
Packet Type: 004 PAIR\_GNSS\_SUBSYS\_HOT\_START ............................................................. 19
2.3.5.
Packet Type: 005 PAIR\_GNSS\_SUBSYS\_WARM\_START ......................................................... 19
2.3.6.
Packet Type: 006 PAIR\_GNSS\_SUBSYS\_COLD\_START ........................................................... 20
2.3.7.
Packet Type: 007 PAIR\_GNSS\_SUBSYS\_FULL\_COLD\_START .................................................. 20
2.3.8.
Packet Type: 010 PAIR\_REQUEST\_AIDING ............................................................................ 21
2.3.9.
Packet Type: 050 PAIR\_COMMON\_SET\_FIX\_RATE ................................................................ 21
2.3.10.
Packet Type: 051 PAIR\_COMMON\_GET\_FIX\_RATE ................................................................ 22
2.3.11.
Packet Type: 058 PAIR\_COMMON\_SET\_MIN\_SNR................................................................ 23
2.3.12.
Packet Type: 062 PAIR\_COMMON\_SET\_NMEA\_OUTPUT\_RATE ............................................ 23
2.3.13.
Packet Type: 059 PAIR\_COMMON\_GET\_MIN\_SNR ............................................................... 24
2.3.14.
Packet Type: 063 PAIR\_COMMON\_GET\_NMEA\_OUTPUT\_RATE ........................................... 25
2.3.15.
Packet Type: 066 PAIR\_COMMON\_SET\_GNSS\_SEARCH\_MODE ........................................... 26
2.3.16.
Packet Type: 067 PAIR\_COMMON\_GET\_GNSS\_SEARCH\_MODE ........................................... 27
2.3.17.
Packet Type: 070 PAIR\_COMMON\_SET\_STATIC\_THRESHOLD .............................................. 28
2.3.18.
Packet Type: 071 PAIR\_COMMON\_GET\_STATIC\_THRESHOLD ............................................. 28
2.3.19.
Packet Type: 072 PAIR\_COMMON\_SET\_ELEV\_MASK ............................................................ 29
2.3.20.
Packet Type: 073 PAIR\_COMMON\_GET\_ELEV\_MASK ........................................................... 40
2.3.21.
Packet Type: 074 PAIR\_COMMON\_SET\_AIC\_ENABLE ........................................................... 30
2.3.22.
Packet Type: 075 PAIR\_COMMON\_GET\_AIC\_STATUS ........................................................... 31
2.3.23.
Packet Type: 080 PAIR\_COMMON\_SET\_NAVIGATION\_MODE ............................................. 42
## Page 3
3
2.3.24.
Packet Type: 081 PAIR\_COMMON\_GET\_NAVIGATION\_MODE ............................................. 34
2.3.25.
Packet Type: 086 PAIR\_COMMON\_SET\_DEBUGLOG\_OUTPUT ............................................. 34
2.3.26.
Packet Type: 087 PAIR\_COMMON\_GET\_DEBUGLOG\_OUTPUT ............................................. 34
2.3.27.
Packet Type: 154 PAIR\_COMMON\_SET\_RLM\_OUTPUT\_ENABLE .......................................... 36
2.3.28.
Packet Type: 155 PAIR\_COMMON\_GET\_RLM\_OUTPUT\_STATUS .......................................... 36
2.3.29.
Packet Type: 158 PAIR\_COMMON\_SET\_B1C\_ENABLE .......................................................... 36
2.3.30.
Packet Type: 382 PAIR\_TEST\_LOCK\_SYSTEM\_SLEEP ............................................................. 38
2.3.31.
Packet Type: 400 PAIR\_DGPS\_SET\_MODE ............................................................................ 39
2.3.32.
Packet Type: 401 PAIR\_DGPS\_GET\_MODE ............................................................................ 39
2.3.33.
Packet Type: 410 PAIR\_SBAS\_ENABLE .................................................................................. 40
2.3.34.
Packet Type: 411 PAIR\_SBAS\_GET\_STATUS .......................................................................... 41
2.3.35.
Packet Type: 432 PAIR\_RTCM\_SET\_OUTPUT\_MODE ............................................................. 42
2.3.36.
Packet Type: 433 PAIR\_RTCM\_GET\_OUTPUT\_MODE ............................................................ 42
2.3.37.
Packet Type: 434 PAIR\_RTCM\_SET\_OUTPUT\_ANT\_PNT ........................................................ 43
2.3.38.
Packet Type: 435 PAIR\_RTCM\_GET\_OUTPUT\_ANT\_PNT ....................................................... 43
2.3.39.
Packet Type: 436 PAIR\_RTCM\_SET\_OUTPUT\_EPHEMERIS ..................................................... 44
2.3.40.
Packet Type: 437 PAIR\_RTCM\_GET\_OUTPUT\_EPHEMERIS .................................................... 45
2.3.41.
Packet Type: 490 PAIR\_EASY\_ENABLE .................................................................................. 45
2.3.42.
Packet Type: 491 PAIR\_EASY\_GET\_STATUS ........................................................................... 46
2.3.43.
Packet Type: 511 PAIR\_NVRAM\_SAVE\_NAVIGATION\_DATA ................................................ 47
2.3.44.
Packet Type: 513 PAIR\_NVRAM\_SAVE\_SETTING ................................................................... 48
2.3.45.
Packet Type: 650 PAIR\_LOW\_POWER\_ENTRY\_RTC\_MODE ................................................... 48
2.3.46.
Packet Type: 680 PAIR\_GLP\_ENABLE .................................................................................... 49
2.3.47.
Packet Type: 681 PAIR\_GLP\_GET\_STATUS............................................................................. 50
2.3.48.
Packet Type: 690 PAIR\_PERIODIC\_SET\_MODE ...................................................................... 50
2.3.49.
Packet Type: 691 PAIR\_PERIODIC\_GET\_MODE ..................................................................... 51
2.3.50.
Packet Type: 730 PAIR\_FLP\_ENABLE ..................................................................................... 52
2.3.51.
Packet Type: 731 PAIR\_FLP\_GET\_STATUS ............................................................................. 53
2.3.52.
Packet Type: 732 PAIR\_FLP\_ENABLE ..................................................................................... 53
2.3.53.
Packet Type: 733 PAIR\_ALP\_GET\_STATUS ............................................................................. 54
2.3.54.
Packet Type: 752 PAIR\_PPS\_SET\_CONFIG\_CMD ................................................................... 55
2.3.55.
Packet Type: 900 PAIR\_LOCUS\_ENABLE ............................................................................... 55
2.3.56.
Packet Type: 901 PAIR\_LOCUS\_GET\_STATUS ........................................................................ 57
2.3.57.
Packet Type: 902 PAIR\_LOCUS\_SET\_MODE .......................................................................... 57
2.3.58.
Packet Type: 903 PAIR\_LOCUS\_GET\_MODE .......................................................................... 58
2.3.59.
Packet Type: 904 PAIR\_LOCUS\_SET\_THRESHOLD ................................................................. 59
2.3.60.
Packet Type: 905 PAIR\_LOCUS\_GET\_THRESHOLD ................................................................ 69
2.3.61.
Packet Type: 906 PAIR\_LOCUS\_CLEAR .................................................................................. 69
2.3.62.
Packet Type: 907 PAIR\_LOCUS\_LOG\_NOW ........................................................................... 70
2.3.63.
Packet Type: 908 PAIR\_LOCUS\_GET\_DATA ........................................................................... 70
## Page 4
4
2.3.64.
Packet Type: 909 PAIR\_LOCUS\_GET\_RECORD\_NUM ............................................................ 73
3
RTCM Protocol .......................................................................................................................................... 74
4
Appendix A – References ......................................................................................................................... 77
5
Appendix B - GNSS Satellites (NEMA) Numbering ............................................................................... 78
6
Appendix C – Special characters ............................................................................................................. 79
## Page 5
5
Copyright © 2023, REYAX TECHNOLOGY CO., LTD.
Table Index
Table 1: Applicable Modules and Variants .................................................................................................................... 6
Table 2: Supported Protocols ................................................................................................................................. …...6
Table 3: Structure of NMEA Protocol Messages ......................................................................................................... ..7
Table 4: NMEA Talker ID ..................................................................................................................................................... ..8
Table 5: Supported RTCM3 Messages ...................................................................................................................... …74
Table 6: Terms and Abbreviations .................................................................................................................................. …75
Table 7: GNSS Satellites (NEMA) Numbering ........................................................................................................... …78
Table 8: Special Characters ...................................................................................................................................... …79
## Page 6
RYS352x
PAIR Command Guide
1 Introduction
RYS3520 GNSS modules support GPS, GLONASS, Galileo, BDS and QZSS constellations. Concurrent
tracking of multi-frequency bands provides fast and accurate acquisition and makes these modules
ideal solutions for positioning and navigation in various vertical markets.
This document describes the software commands that are used to control and modify the module
configuration. The software commands are NMEA proprietary commands defined by REYAX. To report
GNSS information, the modules support outputting messages in NMEA 0183 protocol format and RTCM
protocol format.
Table 1: Applicable Variants and Supported Frequency Bands
Module
Variant
Frequency Band
RYS352x
RYS3520
GPS L1 C/A + GLONASS L1 + Galileo E1 + BDS B1I + QZSS L1 C/A
,,,
Table 2: Supported Protocols
Protocol
Type
RYS352x
Output, ASCII, standard
Input/output, ASCII, proprietary
RTCM 10403.3
Output, binary, proprietary
6
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## Page 7
RYS352x
PAIR Command Guide
Copyright © 2023, REYAX TECHNOLOGY CO., LTD.
2 NMEA Protocol
2.1. Structure of NMEA Protocol Messages
Start of sentence
character. Always ‘$’
Start with a ‘\*’, 8-bit
checksum value converted to
two ASCII characters
Address field - contains talker identifier
and sentence formatter
Data field(s),
delimited by ‘,’
End of sentence. Always
<CR><LF>
$
<Address>
(<TalkerID><SentenceFormatter>)
[,<Data>]
\*<Checksum>
<CR><LF>
Range for checksum calculation
Field
Description
$
Start of the sentence (Hex 0x24).
<Address>
In Standard Messages:
In NMEA standard messages, this field consists of a two-character talker identifier (TalkerID)
and a three-character sentence formatter (SentenceFormatter).
The talker identifier identifies the data type of talker. For more information on the TalkerID, see
Table 4: NMEA Talker ID.
The sentence formatter identifies the data type and the string format of the successive fields.
In Proprietary Messages:
In NMEA proprietary messages, this field consists of the proprietary character P followed by a
three-character Manufacturer's Mnemonic Code, used to identify the TALKER issuing a
proprietary sentence, and any additional characters as required
<Data>
Data fields, delimited by data field delimiter ‘,’.
Variable length (depends on the NMEA message type).
<Checksum>
Checksum field follows the checksum delimiter character \*.
Checksum is the 8-bit exclusive OR of all characters in the sentence, including the ‘,’
field delimiter, between but not including the ‘$’ and the ‘\*’ delimiters.
<CR><LF>
End of the sentence (Hex 0x0D 0x0A).
Figure 1: Structure of NMEA Protocol Messages
Table 3: Structure of NMEA Protocol Messages
7
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## Page 8
RYS352x
PAIR Command Guide
Copyright © 2023, REYAX TECHNOLOGY CO., LTD.
Table 4: NMEA Talker ID
GNSS Constellation Configuration
TalkerID (NMEA V4.10)
GPS
GP
GLONASS
GL
Galileo
GA
BDS
GB
QZSS
GP
Combination of Multiple Satellite Systems
GN
Sample Code for NMEA Checksum:
// pData is the data array whose checksum needs to be calculated:
unsigned char Ql\_Check\_XOR(const unsigned char \*pData, unsigned int Length)
{
unsigned char result = 0;
unsigned int i = 0;
if((NULL == pData) || (Length < 1))
{
return 0;
}
for(i = 0; i < Length; i++)
{
result ^= \*(pData + i);
}
return result;
}
8
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## Page 9
RYS352x
PAIR Command Guide
Copyright © 2023, REYAX TECHNOLOGY CO., LTD.
2.2. Standard Messages
This chapter explains the NMEA 0183 V4.10 standard messages supported by the modules.
2.2.1. RMC
Message
RMC
Description
Recommended Minimum Specific GNSS Data. Time, date, position, course, and
speed data provided by a GNSS receiver
Type
Output
Message Structure:
Example:
$GNRMC,040143.000,A,3149.334166,N,11706.941670,E,0.01,0.00,010522,,,D,V\*0E
Parameter:
Field
Format
Unit
Example
Description
$
Character
-
$
Each NMEA message starts with $.
<TalkerID>
String, 2 characters
GN
Talker identifier.
See Table 4: NMEA Talker ID
RMC
String, 3 characters
RMC
Recommended
Minimum Specific
GNSS Data.
<UTC>
hhmmss.sss
040143.000
GNSS Data.
Position fix UTC.
hh: Hours (00–23)
mm: Minutes (00–59)
ss: Seconds (00–59)
sss: Decimal fraction of seconds
<Status>
Character
A
Positioning system status.
A = Data valid
V = Navigation receiver warning
<Lat>
ddmm.mmmmmm
3149.334166
Latitude.
dd. Degrees (00–90)
mm. Minutes (00–59)
mmmmmm:
Decimal
fraction
of
minutes
Note that this field is empty in case of an
invalid value.
$<TalkerID>RMC,<UTC>,<Status>,<Lat>,<N/S>,<Lon>,<E/W>,<SOG>,<COG>,<Date>,<MagVar>,
<MagVarDir>,<ModeInd>,<NavStatus>\*<Checksum><CR><LF>
9
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## Page 10
RYS352x
PAIR Command Guide
Copyright © 2023, REYAX TECHNOLOGY CO., LTD.
Field
Format
Unit
Example
Description
<N/S>
Character
N
North-south direction.
N = North
S = South
Note that this field is empty in case of
an invalid value.
<Lon>
dddmm.mmmmmm
11706.941670
Longitude.
ddd: Degrees (000–180)
mm: Minutes (00–59)
mmmmmm:
Decimal
fraction
of
minutes.
Note that this field is empty in case of
an invalid value.
<E/W>
Character
E
East-west direction.
E = East
W = West
Note that this field is empty in case of
an invalid value.
<SOG>
Numeric
Knot
0.01
Speed over ground. Variable length.
Note that this field is empty in case of
an invalid value.
<COG>
Numeric
Degree
0.00
Course over ground. Variable length.
Maximum value: 359.99.
Note that this field is empty in case of
an invalid value.
<Date>
ddmmyy
010522
Date.
dd: Day of month
mm: Month
yy: Year
<MagVar>
Magnetic variation. Not supported.
<MagVarDir>
Direction of magnetic variation.
Not supported.
10
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## Page 11
RYS352x
PAIR Command Guide
Copyright © 2023, REYAX TECHNOLOGY CO., LTD.
Field
Format
Unit
Example
Description
<ModeInd>
Character
D
Mode indicator.
A = Autonomous mode. Satellite
system used in non-differential mode
for position fixing.
D = Differential mode. Satellite system
used in differential mode for position
fixing. Corrections from ground stations
or
Satellite
Based
Augmentation
System (SBAS).
E = Estimated (dead reckoning) mode
F = Float RTK. Satellite system used in
RTK mode with floating integers.
M = Manual input mode
N = No fix. Satellite system not used for
position fixing, or fix not valid.
R = Real Time Kinematic (RTK).
Satellite system used in RTK mode with
fixed integers
<NavStatus>
Character
V
Navigational status indication.
Note that this parameter is only
available in messages in line with
NMEA0183 V4.10 and later versions.
<Checksum>
Hexadecimal
\*0E
Checksum.
<CR><LF>
Character
Carriage return and line feed.
2.2.2. GGA
Message
GGA
Description
Global Positioning System Fix Data. Time, position, and fix-related data
for a GNSS receiver
Type
Output
Message Structure:
Example:
Parameter:
Field
Format
Unit
Example
Description
$
Character
-
$
Each NMEA message starts with $.
<TalkerID>
String, 2 characters
GN
Talker identifier.
See Table 4: NMEA Talker ID
$<TalkerID>GGA,<UTC>,<Lat>,<N/S>,<Lon>,<E/W>,<Quality>,<NumSatUsed>,<HDOP>,<Alt>,M,
<Sep>,M,<DiffAge>,<DiffStation>\*<Checksum><CR><LF>
$GNRMC,040143.000,A,3149.334166,N,11706.941670,E,0.01,0.00,010522,,,D,V\*0E
11
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## Page 12
RYS352x
PAIR Command Guide
Copyright © 2023, REYAX TECHNOLOGY CO., LTD.
Field
Format
Unit
Example
Description
GGA
String, 3 characters
GGA
Global Positioning System Fix Data.
<UTC>
hhmmss.sss
040143.000
GNSS Data.
Position fix UTC.
hh: Hours (00–23)
mm: Minutes (00–59)
ss: Seconds (00–59)
sss: Decimal fraction of seconds
<Lat>
ddmm.mmmmmm
3149.334166
Latitude.
dd. Degrees (00–90)
mm. Minutes (00–59)
mmmmmm: Decimal
fraction
of
minutes
Note that this field is empty in case of an
invalid value.
<N/S>
Character
N
North-south direction.
N = North
S = South
Note that this field is empty in case of
an invalid value.
<Lon>
dddmm.mmmmmm
11706.941670
Longitude.
ddd: Degrees (000–180)
mm: Minutes (00–59)
mmmmmm:
Decimal
fraction
of
minutes.
Note that this field is empty in case of
an invalid value.
<E/W>
Character
E
East-west direction.
E = East
W = West
Note that this field is empty in case of
an invalid value.
<Quality>
Numeric, 1 digit
2
GPS quality indicator.
0 = Fix not available or invalid
1 = GPS SPS Mode, fix valid
2 = Differential GPS, SPS Mode, or
Satellite Based Augmentation. System
(SBAS), fix valid
3 = GPS PPS Mode, fix valid
4 = Real Time Kinematic (RTK) System
used in RTK mode with fixed integers
5 = Float RTK. Satellite system used in
RTK mode, floating integers
6 = Estimated (dead reckoning) mode
<NumSat
Used> 1)
Numeric, 2 digits
36
Number of satellites in use.
<HDOP>
Numeric
0.48
Horizontal dilution of precision.
Note that this field is empty in case of
an invalid value.
12
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## Page 13
RYS352x
PAIR Command Guide
Copyright © 2023, REYAX TECHNOLOGY CO., LTD.
Field
Format
Unit
Example
Description
<Alt>
Numeric
Meter
61.496
Altitude above mean-sea-level (geoid).
Note that this field is empty in case of
an invalid value.
M
Character
M
Unit of <Alt>.
“M” = Meter.
<DiffAge>
Differential GPS data age.
Not supported.
<Diffstation>
Differential reference station ID.
Not supported.
<Checksum>
Hexadecimal
\*58
Checksum.
<CR><LF>
Character
Carriage return and line feed.
Note:
1. The NMEA 0183 specification indicates that GGA messages are GPS specific. However, when the
receiver is configured for multi-constellations, the content of GGA messages will be generated
from the multi-constellation solution.
2.2.3. GSV
Message
GSV
Description
GNSS Satellites in View. The GSV sentence provides the number of
satellites in view (SV), satellite ID numbers, elevation, azimuth, and SNR
value, and it contains maximum four satellites per transmission.
Therefore, it may take several sentences to get complete information. The
total number of sentences being transmitted and the sentence number are
indicated in the first two data fields.
Type
Output
Message Structure:
Example:
$<TalkerID>GSV,<TotalNumSen>,<SenNum>,<TotalNumSat>{,<SatID>,<SatElev>,<SatAz>,<SatC
N0>},<SignalID>\*<Checksum><CR><LF>
$GPGSV,3,1,12,195,72,076,42,01,69,158,45,194,66,111,29,21,61,060,44,1\*6D
$GPGSV,3,2,12,07,61,233,42,30,52,284,44,199,51,162,37,08,39,045,42,1\*59
$GPGSV,3,3,12,14,29,312,29,196,20,148,36,17,18,258,36,27,07,061,36,1\*53
$GLGSV,2,1,05,79,80,068,47,82,62,248,44,81,56,014,38,78,31,137,24,1\*7F
$GLGSV,2,2,05,88,07,034,29,1\*46
$GAGSV,2,1,06,26,80,095,42,01,69,353,13,21,49,106,26,33,42,207,41,7\*72
$GAGSV,2,2,06,13,28,040,34,31,19,313,34,7\*72
$GBGSV,4,1,16,46,81,194,38,07,68,349,31,40,61,016,40,30,60,259,43,1\*71
$GBGSV,4,2,16,10,59,321,,03,51,192,36,36,41,314,38,02,37,229,32,1\*71
$GBGSV,4,3,16,09,31,219,26,08,27,175,31,37,25,146,29,06,23,202,29,1\*78
$GBGSV,4,4,16,16,20,199,31,13,17,186,26,39,12,192,29,28,09,048,30,1\*7C
13
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## Page 14
RYS352x
PAIR Command Guide
Copyright © 2023, REYAX TECHNOLOGY CO., LTD.
Parameter:
Field
Format
Unit
Example
Description
$
Character
-
$
Each NMEA message starts with $.
<TalkerID>
String, 2 characters
GP
Talker identifier.
See Table 4: NMEA Talker ID
GSV
String, 3 characters
GSV
GNSS Satellites in view
<TotalNumSe
n>
Numeric
3
Total number of sentences.
Range: 1–9.
<SetNum>
Numeric
1
Sentence number.
Range: 1–<TotalNumSen>.
<TotalNumSa
t>
Numeric
12
Total number of satellites in view.
Start of repeat block. Repeat times: 1–4.
<SatID>
Numeric
195
Satellite ID.
See Table 8: GNSS Satellites (NEMA)
Numbering.
<SatElev>
Numeric
Degree
72
Satellite elevation. Range: 00–90.
<SatAz>
Numeric
Degree
076
Satellite azimuth, with true north as the
reference plane. Range: 000–359.
<SatCN0>
Numeric
dB-Hz
42
Satellite C/N0. Range 00–99.
Null when not tracking.
<SignalID>
Numeric
1
GNSS signal ID.
See Table 8: GNSS Satellites (NEMA)
Numbering.
Note that this parameter is only
available in messages in line with
NMEA 0183 V4.10 and later versions.
<Checksum>
Hexadecimal
\*58
Checksum.
<CR><LF>
Character
Carriage return and line feed.
Note:
1. GN cannot be used for GSV sentences. If satellites of multiple constellations are in view, use separate
GSV sentences with the corresponding talker ID for each constellation.
2.2.4. GSA
Message
GSA
Description
GNSS DOP and Active Satellites. GNSS receiver operating mode, satellites
used in the navigation solution reported by the GGA sentence, and DOP
values.
Type
Output
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Message Structure:
Example:
Parameter:
Field
Format
Unit
Example
Description
$
Character
-
$
Each NMEA message starts with $.
<TalkerID>
String, 2 characters
GN
Talker identifier.
See Table 4: NMEA Talker ID
GSA
String, 3 characters
GSA
GNSS DOP and Active Satellites.
<Mode>
Character
A
Selection of 2D or 3D fix.
M = Manual, forced to operate in 2D or
3D Mode
A= Automatic, allowed to automatically
switch to 2D/3D
<FixMode>
Numeric
-
3
Fix mode.
1 = Fix not available
2 = 2D
3 = 3D
Start of repeat block. Repeat times: 12.
<SatID>
Numeric
195
ID numbers of satellites used in
solution.
See Table 8: GNSS Satellites (NEMA)
Numbering.
Note that this field is empty in case of
an invalid value.
End of repeat block.
<PDOP>
Numeric
0.71
Position dilution of precision.
Maximum value: 99.00.
Note that this field is empty in case of
an invalid value.
<HDOP>
Numeric
0.48
Horizontal dilution of precision.
Maximum value: 99.00.
Note that this field is empty in case of
an invalid value.
<VDOP>
Numeric
0.52
Vertical dilution of precision.
Maximum value: 99.00.
Note that this field is empty in case of
an invalid value
$<TalkerID>GSA,<Mode>,<FixMode>{,<SatID>},<PDOP>,<HDOP>,<VDOP><SystemID>\*<Checksum>
$GNGSA,A,3,195,01,194,21,07,30,199,08,14,17,27,,0.71,0.48,0.52,1\*34
$GNGSA,A,3,79,82,81,78,88,,,,,,,,0.71,0.48,0.52,2\*0D
$GNGSA,A,3,26,21,33,13,31,,,,,,,,0.71,0.48,0.52,3\*09
$GNGSA,A,3,46,07,40,30,03,36,02,09,08,37,06,16,0.71,0.48,0.52,4\*0B
$GNGSA,A,3,13,39,28,,,,,,,,,,0.71,0.48,0.52,4\*0B
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Field
Format
Unit
Example
Description
<HDOP>
Numeric
0.48
Horizontal dilution of precision.
Maximum value: 99.00.
Note that this field is empty in case of
an invalid value.
<VDOP>
Numeric
0.52
Vertical dilution of precision.
Maximum value: 99.00.
Note that this field is empty in case of
an invalid value
<System ID>
Numeric
1
GNSS system ID.
See Table 8: GNSS Satellites (NEMA)
Numbering
<Checksum>
Hexadecimal
\*34
Checksum
<CR><LF>
Character
Carriage return and line feed.
Note:
1. If less than 12 satellites are used for navigation, the remaining <SatID> fields are left empty. If more
than 12 satellites are used for navigation, only the IDs of the first 12 are output
2.2.5. VTG
Message
VTG
Description
Course Over Ground & Ground Speed. The actual course and speed relative
to the ground.
Type
Output
Message Structure:
Example:
Parameter:
Field
Format
Unit
Example
Description
$
Character
-
$
Each NMEA message starts with $.
<TalkerID>
String, 2 characters
GN
Talker identifier.
See Table 4: NMEA Talker ID
VTG
String, 3 characters
GSA
Course Over Ground & Ground Speed.
<COGT>
Numeric
Degrees
0.00
Course over ground, in true north
course direction.
Note that this field is empty in case of
an invalid value.
$<TalkerID>VTG,<COGT>,T,<COGM>,M,<SOGN>,N,<SOGK>,K,<ModeInd>\*<Checksum><CR><LF>
$GNVTG,0.00,T,,M,0.01,N,0.02,K,D\*25
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Field
Format
Unit
Example
Description
T
Character
T
Fixed field: true.
<COGM>
Numeric
Degrees
M
Course over ground (magnetic).
Not supported.
M
Character
Fixed field: magnetic.
<SOGN>
Numeric
Knots
0.01
Speed over ground in knots.
Note that this field is empty in case of
an invalid value.
N
Character
N
Fixed field: knot.
<SOGK>
Numeric
km/h
0.02
Speed over ground in kilometers per
hour.
Note that this field is empty in case of
an invalid value0
K
Character
K
Fixed field: kilometers per hour.
<Modelnd>
Character
D
Mode indicator.
A = Autonomous mode
D = Differential mode
E = Estimated (dead reckoning) mode
F = Float RTK. Satellite system used in
real time kinematic mode with floating
integers
M = Manual input mode
N = No fix. Satellite system not used for
position fixing, or fix not valid
R = Real Time Kinematic. Satellite
system used in RTK mode with fixed
integers
<Checksum>
Hexadecimal
\*25
Checksum
<CR><LF>
Character
Carriage return and line feed.
2.2.6. GLL
Message
GLL
Description
Geographic Position – Latitude/Longitude. Latitude and longitude of the
GNSS receiver position, the time of position fix and status
Type
Output
Message Structure:
Example:
$<TalkerID>GLL,<Lat>,<N/S>,<Lon>,<E/W>,<UTC>,<Status>,<ModeInd>\*<Checksum><CR><LF>
$GNGLL,3149.334166,N,11706.941670,E,040143.000,A,D\*46
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Parameter:
Field
Format
Unit
Example
Description
$
Character
-
$
Each NMEA message starts with $.
<TalkerID>
String, 2 characters
GN
Talker identifier.
See Table 4: NMEA Talker ID
GLL
String, 3 characters
GLL
Geographic Position –
Latitude/Longitude.
<Lat>
ddmm.mmmmmm
-
3149.334166
Latitude.
dd: Degrees (00–90)
mm: Minutes (00–59)
mmmmmm:
Decimal
fraction
of
minutes
Note that this field is empty in case of
an invalid value.
<N/S>
Character
N
North-south direction.
N = North
S = South
Note that this field is empty in case of
an invalid value.
<Lon>
dddmm.mmmmmm
11706.941670
Latitude.
dd: Degrees (000–180)
mm: Minutes (00–59)
mmmmmm:
Decimal
fraction
of
minutes
Note that this field is empty in case of
an invalid value.
<E/W>
Character
E
East-west direction.
E = East
W = West
Note that this field is empty in case of
an invalid value
<UTC>
hhmmss.sss
040143.000
Position UTC.
hh: Hours (00–23)
mm: Minutes (00–59)
ss: Seconds (00–59)
sss: Decimal fraction of seconds
<Status>
Character
A
Positioning system status.
A = Data valid
V = Invalid data
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Field
Format
Unit
Example
Description
<Modelnd>
Character
GN
Mode indicator.
A = Autonomous mode
D = Differential mode
E = Estimated (dead reckoning) mode
F = Float RTK. Satellite system used in
real time kinematic mode with floating
integers
M = Manual input mode
N = No fix. Satellite system not used for
position fixing, or fix not valid
R = Real Time Kinematic. Satellite
system used in RTK mode with fixed
integers.
<Checksum>
Hexadecimal
\*46
Checksum
<CR><LF>
Character
Carriage return and line feed.
2.2.7. ZDA
Message
ZDA
Description
Time and date. UTC, day, month, year and local time zone.
Type
Output
Message Structure:
Example:
Parameter:
Field
Format
Unit
Example
Description
$
Character
-
$
Each NMEA message starts with $.
<TalkerID>
String, 2 characters
GN
Talker identifier.
See Table 4: NMEA Talker ID
ZDA
String, 3 characters
ZDA
Time&Date. UTC, day, month, year and
local time zone.
$<TalkerID>ZDA,<UTC>,<Day>,<Month>,<Year>,<LocalHour>,<LocalMin>\*<Checksum><CR><LF>
$GNZDA,055054.000,19,09,2022,,\*4A
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Field
Format
Unit
Example
Description
<UTC>
hhmmss.sss
055054.000
Position fix UTC.
hh: Hours (00–23)
mm: Minutes (00–59)
ss: Seconds (00–59)
sss: Decimal fraction of seconds
<DAY>
Numeric
19
Day of month. Range: 01–31.
<Month>
Numeric
09
Month. Range: 01–12.
<Year>
Numeric
2022
Year.
<LocalHour>
Numeric
Local zone hours, 00 to ±13 hours.
Not supported.
<LocalMin>
Numeric
Local zone minutes, 00 to +59 minutes.
Not supported.
<Checksum>
Hexadecimal
\*4A
Checksum
<CR><LF>
Character
Carriage return and line feed.
2.2.8. GNS
Message
GNS
Description
GNSS fix data. Fix data for single or combined satellite navigation systems
(GNSS).
Type
Output
Message Structure:
Example:
Parameter:
Field
Format
Unit
Example
Description
$
Character
-
$
Each NMEA message starts with $.
<TalkerID>
String, 2 characters
Talker identifier.
See Table 4: NMEA Talker ID
GNS
String, 3 characters
GNS
GNSS Fix Data.
$<TalkerID>GNS,<UTC>,<Lat>,<N/S>,<Lon>,<E/W>,<ModeInd>,<NumSatUsed>,<HDOP>,<Alt>,
M,<Sep>,M,<DiffAge>,<DiffStation>,<NavStatus>\*<Checksum><CR><LF>
$GNGNS,053106.000,3149.334190,N,11706.948654,E,DANN,16,0.63,51.287,M,-0.335,M,,,V\*05
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Field
Format
Unit
Example
Description
<UTC>
hhmmss.sss
053106.000
North-south direction.
N = North
S = South
Note that this field is empty in case of
an invalid value.
<LAT>
ddmm.mmmmmm
3149.334190
Longitude.
ddd: Degrees (00–90)
mm: Minutes (00–59)
mmmmmm:
Decimal
fraction
of
minutes
Note that this field is empty in case of
an invalid value.
<N/S>
Character
N
East-west direction.
E = East
W = West
Note that this field is empty in case of
an invalid value.
<Lon>
dddmm.mmmmmm
11706.948654
Longitude.
ddd: Degrees (000–180)
mm: Minutes (00–59)
mmmmmm:
Decimal
fraction
of
minutes
Note that this field is empty in case of
an invalid value.
<E/W>
Character
E
East-west direction.
E = East
W = West
Note that this field is empty in case of
an invalid value.
< ModeInd>1)
Character
DANN
Mode indicator.
A = Autonomous mode. Satellite system
used
in
non-differential
mode
for
position fixing
D = Differential mode. Satellite system
used in differential mode for position
fixing. Corrections from ground stations
or Satellite Based Augmentation System
(SBAS)
E = Estimated (dead reckoning) mode
F = Float RTK. Satellite system used in
RTK mode with floating integers
M = Manual input mode
N = No fix. Satellite system not used for
position fixing, or fix not valid
R = Real Time Kinematic (RTK).
Satellite system used in RTK mode with
fixed integers.
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Field
Format
Unit
Example
Description
<NumSatUsed>
Numeric
16
Total number of satellites in use.
Range: 0–99.
<HDOP>
Numeric
0.63
Horizontal dilution of precision.
Maximum value: 99.00.
Note that this field is empty in case of
an invalid value.
<Alt>
Numeric
Meter
51.287
Antenna altitude above the meansea-
level (geoid).
Note that this field is empty in case of
an invalid value.
M
Character
M
Unit of <Alt>.
“M” = Meter.
<Sep>
Numeric
Meter
-0.335
Geoid
separation
(the
difference
between the earth ellipsoid surface and
the mean-sea-level (geoid) surface
defined by the reference datum used in
the position solution).
Note that this field is empty in case of
an invalid value.
M
Character
M
Unit of <Sep>.
“M” = Meter.
<DiffAge>
Differential GPS data age.
Not supported.
<DiffStation>
Differential reference station ID.
Not supported.
<NavStatus>
Character
V
Navigational status indicator.
Always “V” (Navigational status not
valid).
<Checksum>
Hexadecimal
\*05
Checksum
<CR><LF>
Character
Carriage return and line feed.
Note:
1. 1) <ModeInd> is a variable length field. The first character indicates the use of GPS satellites, the
second character indicates the use of GLONASS satellites, and the third character indicates the
use of Galileo satellites. The fourth character indicates the use of BDS satellites, the fifth character
indicates the use of QZSS satellites, and the sixth character indicates the use of NavIC (IRNSS)
satellites.
.
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2.2.9. GST
Message
GST
Description
GNSS Psuedorange Error Statistics. This sentence supports Receiver
Autonomous Integrity Monitoring (RAIM). Pseudorange measurement
error statistics can be translated in the position domain in order to give
statistical measures of the quality of the position solution
Type
Output
Message Structure:
Example:
Parameter:
Field
Format
Unit
Example
Description
$
Character
-
$
Each NMEA message starts with $.
<TalkerID>
String, 2 characters
GN
Talker identifier.
See Table 4: NMEA Talker ID
GST
String, 3 characters
GST
GNSS Psuedorange Error Statistics
<UTC>
hhmmss.sss
123624.000
UTC time of the GGA or GNS fix
associated with this sentence.
< RMS\_D>
Numeric
Meter
6.3
RMS value of the standard deviation of
the range inputs to the navigation
process.
<MajorD>
Numeric
Meter
2.5
Standard deviation of semi-major axis
of error ellipse.
<MinorD>
Numeric
Meter
2.4
Standard deviation of semi-minor axis
of error ellipse.
<Orient>
Numeric
Degree
s
88.4
Orientation of semi-major axis of error
ellipse.
< LatD>
Numeric
Meter
2.4
Standard deviation of latitude error.
<LonD>
Numeric
Meter
2.5
Standard deviation of longitude error.
<AltD>
Numeric
Meter
5.9
Standard deviation of altitude error.
<Checksum>
Hexadecimal
\*43
Checksum.
<CR><LF>
Character
Carriage return and line feed.
$<TalkerID>GST,<UTC>,<RMS\_D>,<MajorD>,<MinorD>,<Orient>,<LatD>,<LonD>,<AltD>\*<Checksum>
<CR><LF>
$GNGST,123624.000,6.3,2.5,2.4,88.4,2.4,2.5,9.2\*43
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2.2.10. GRS
Message
GRS
Description
GNSS range residuals. This sentence supports Receiver Autonomous
Integrity Monitoring (RAIM). Range residuals can be computed in two
ways for this process. The basic measurement integration cycle of most
navigation filters generates a set of residuals and uses these to update
the position state of the receiver.
Type
Output
Message Structure:
Example:
Parameter:
Field
Format
Unit
Example
Description
$
Character
-
$
Each NMEA message starts with $.
<TalkerID>
String, 2 characters
GN
Talker identifier.
See Table 4: NMEA Talker ID
GRS
String, 3 characters
GRS
GNSS Range Residuals
<UTC>
hhmmss.sss
125524.000
Position fix UTC.
hh: Hours (00–23)
mm: Minutes (00–59)
ss: Seconds (00–59)
sss: Decimal fraction of seconds
<Mode>
Numeric
1
Residual calculation mode.
0 = Residuals were used to calculate
the position given in the matching GGA
or GNS sentence
1 = Residuals were recomputed after
the
GGA
or
GNS
position
was
computed
Start of repeat block. Repeat times: 12.
< Resi>
Numeric
Meter
-0.4
Range residuals for SVs used in
navigation.
Range: -999 to 999.
Note that this field is empty in case of
an invalid value.
End of repeat block.
$<TalkerID>GRS,<UTC>,<Mode>{,<Resi>},<SystemID>,<SignalID>\*<Checksum><CR><LF>
$GNGRS,125524.000,1,-0.4,-0.7,0.5,-4.6,0.2,1.1,-2.2,-0.6,-1.1,9.2,-2.1,3.1,1,1\*42
$GNGRS,125524.000,1,-11.4,,,,,,,,,,,,1,1\*52
$GNGRS,125524.000,1,19.4,-5.0,11.4,6.3,-118,3.3,-7.5,,,,,,2,1\*79
$GNGRS,125524.000,1,-5.6,4.6,21.1,,,,,,,,,,3,7\*51
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Field
Format
Unit
Example
Description
<SystemID>
Numeric
1
GNSS system ID.
See Table 8: GNSS Satellites (NEMA)
Numbering.
Note that this parameter is only
available in messages in line with
NMEA 0183 V4.10 or later versions.
<SignalID>
Numeric
1
GNSS system ID.
See Table 8: GNSS Satellites (NEMA)
Numbering.
Note that this parameter is only
available in messages in line with
NMEA 0183 V4.10 or later versions.
<Checksum>
Hexadecimal
\*42
Checksum.
<CR><LF>
Character
Carriage return and line feed.
2.2.11. RLM
Message
RLM
Description
Return Link Message. The receiver will detect the Galileo Search and
Rescue (SAR) Return Link Message when the RLM function is enabled
Type
Output
Message Structure:
Example:
Parameter:
Field
Format
Unit
Example
Description
$
Character
-
$
Each NMEA message starts with $.
<TalkerID>
String, 2 characters
GN
Talker identifier.
See Table 4: NMEA Talker ID
RLM
String, 3 characters
RLM
Return Link Message
<BeaconID>
Hexadecimal
9A22BE296
30F010
Beacon of RLM. Beacon ID 15 hex
characters (60 bits).
<UTC>
hhmmss.sss
055054.000
Position fix UTC.
hh: Hours (00–23)
mm: Minutes (00–59)
ss: Seconds (00–59)
sss: Decimal fraction of seconds
$<TalkerID>RLM,<BeaconID>,<UTC>,<Meg\_Code>,<Para>\*<Checksum><CR><LF>
$GARLM,9A22BE29630F010,125713.000,F,5402\*3B
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Field
Format
Unit
Example
Description
<
Meg\_Code>
Hexadecimal
F
Message code, a hex character (4 bits).
Identifies the Type of RLM Message
Service.
0 = Reserved for future RLM services.
1 = Acknowledgement Service RLM
2 = Command Service RLM
3 = Message Service RLM
4 – E = Reserved for future RLM
services
F = Test Service RLM (currently used
only by the Galieo Program)
<Para>
Numeric
5402
The data parameters provided by RLS.
Short
message
contains
4
hex
characters (16 bits) and long message
contains 24 hex characters (96 bits).
<Checksum>
Hexadecimal
\*3B
Checksum.
<CR><LF>
Character
Carriage return and line feed.
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RYS352x
PAIR Command Guide
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2.3. PAIR Messages
This chapter explains PAIR messages (proprietary NMEA messages defined by the chipset supplier)
supported by the modules.
2.3.1. Packet Type: 001 PAIR_ACK
Message
$PAIR001
Description
Acknowledges a PAIR command. An acknowledgement packet $PAIR001 is
returned to inform the sender that the receiver has received the packet.
Type
Output
Message Structure:
Example:
$PAIR001,004,0\*3F
Parameter:
Field
Format
Unit
Description
<CommandID>
Numeric
-
Type of command/packet to be acknowledged.
<Result>
Numeric
0 = Command has been successfully sent
1 = Command is being processed. Please wait for the
result.
2 = Command sending failed.
3 = is not supported.
4 = Command parameter error. Out of range/Some
parameters were lost/Checksum error.
5 = MNL service is busy. You can try again soon.
2.3.2. Packet Type: 002 PAIR\_GNSS\_SUBSYS\_POWER\_ON
Message
$PAIR002
Description
Acknowledges a PAIR command. An acknowledgement packet $PAIR001 is
returned to inform the sender that the receiver has received the packet.
Type
Command
Message Structure:
Example:
$PAIR001,<CommandID>,<Result>\*<Checksum><CR><LF>
$PAIR002\*<Checksum><CR><LF>
$PAIR002\*38
$PAIR001,002,1\*38
$PAIR001,002,0\*39
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Parameter:
None
Result:
Returns $PAIR001 message.
2.3.3. Packet Type: 003 PAIR\_GNSS\_SUBSYS\_POWER\_OFF
Message
$PAIR003
Description
Power off GNSS system. Include DSP/RF/Clock and other GNSS modules.
CM4 also can receive commands (Include the AT command / the race Command /
the part of PAIR command which is not dependent on DSP.) after sending this
command.
Type
Command
Message Structure:
Example:
Parameter:
None
Result:
Returns $PAIR001 message.
Note:
1.
The location service is not available after this command is executed.
2.
The system can still receive configuration PAIR commands. The application is running if necessary.
3.
CM4 will go to sleep if the application is not working at this time. The system can be awoken by the
GNSS\_DATA\_IN\_EINT pin after going to sleep.
$PAIR003\*<Checksum><CR><LF>
$PAIR003\*39
$PAIR001,003,1\*39
$PAIR001,003,0\*38
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PAIR Command Guide
Copyright © 2023, REYAX TECHNOLOGY CO., LTD.
2.3.4. Packet Type: 004 PAIR\_GNSS\_SUBSYS\_HOT\_START
Message
$PAIR004
Description
Performs a hot start (uses all available data in the NVRAM). Normally a hot start
means that the GNSS module has been powered down for less than 2 hours (RTC
must be alive) with its ephemeris still valid. Therefore, there is no need to download
an ephemeris again upon a hot start, thus making this startup method the fastest
Type
Command
Message Structure:
Example:
Parameter:
None
Result:
Returns $PAIR001 message.
2.3.5. Packet Type: 005 PAIR\_GNSS\_SUBSYS\_WARM\_START
Message
$PAIR005
Description
Performs a warm start. A warm start means that the GNSS module remembers only
rough time, position,and almanacs data, and thus needs to download an ephemeris
before it can fix a position.
Type
Command
Message Structure:
Example:
Parameter:
None
Result:
Returns $PAIR001 message.
$PAIR004\*<Checksum><CR><LF>
$PAIR004\*3E
$PAIR001,004,1\*3E
$PAIR001,004,0\*3F
$PAIR005\*<Checksum><CR><LF>
$PAIR005\*3F
$PAIR001,005,1\*3F
$PAIR001,005,0\*3E
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RYS352x
PAIR Command Guide
Copyright © 2023, REYAX TECHNOLOGY CO., LTD.
2.3.6. Packet Type: 006 PAIR\_GNSS\_SUBSYS\_COLD\_START
Message
$PAIR006
Description
Performs a cold start, which means that there is no location information stored in
the receiver, including time, position, and almanacs and ephemeris data.
Type
Command
Message Structure:
Example:
Parameter:
None
Result:
Returns $PAIR001 message.
2.3.7. Packet Type: 007
PAIR\_GNSS\_SUBSYS\_FULL\_COLD\_START
Message
$PAIR007
Description
Performs a cold start and clears system and user configurations at the start, i.e.,
resets the module to its factory settings. Upon a full cold start, the module loses all
data on the previous position. Therefore, it needs to search over the full frequency
spectrum for all visible satellites before fixing a position.
Type
Command
Message Structure:
Example:
Parameter:
None
Result:
Returns $PAIR001 message.
$PAIR006\*<Checksum><CR><LF>
$PAIR006\*3C
$PAIR001,006,1\*3C
$PAIR001,006,0\*3D
$PAIR007\*<Checksum><CR><LF>
$PAIR007\*3D
$PAIR001,007,1\*3D
$PAIR001,007,0\*3C
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RYS352x
PAIR Command Guide
Copyright © 2023, REYAX TECHNOLOGY CO., LTD.
2.3.8. Packet Type: 010 PAIR\_REQUEST\_AIDING
Message
$PAIR010
Description
Notifies the expiration of GNSS aiding data stored in the module. This message is
automatically output when the module powers on
Type
Output
Message Structure:
Example:
Parameter:
Field
Format
Unit
Description
<Type>
Numeric
Type of data to be updated.
0 = EPO data
1 = Time
2 = Location
<GNSS\_System>
Numeric
Type of required GNSS data.
0 = GPS data
1 = GLONASS data
2 = Galileo data
3 = BDS data
4 = QZSS data
<WN>
Numeric
Week
Week number (including roll-over)
<TOW>
Numeric
Second
Time of week
Note:
1.
The GNSS system outputs this message automatically. Do not send $PAIR010 manually.
2.3.9. Packet Type: 050 PAIR\_COMMON\_SET\_FIX\_RATE
Message
$PAIR050
Description
Set Position Fix Interval.
If set less than 1000 ms, ASCII NMEA will automatically increase the update
interval in order to decrease IO throughput.
It will return false if the operating voltage setting is not correct.
(Any fix interval change between 1Hz <-> multihz causes GNSS to power on/off)
Type
Set
Message Structure:
$PAIR010,<Type>,<GNSS\_System>,<WN>,<TOW>\*<Checksum><CR><LF>
$PAIR010,0,0,2044,369413\*33
$PAIR050,<Time>\*<Checksum><CR><LF>
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PAIR Command Guide
Copyright © 2023, REYAX TECHNOLOGY CO., LTD.
Example:
Parameter:
Field
Format
Unit
Description
<Time>
Numeric
Millisecond
Position fix interval.
Range: 100–1000. Default value: 1000.
Result:
Returns $PAIR001 message.
2.3.10. Packet Type: 051 PAIR\_COMMON\_GET\_FIX\_RATE
Message
$PAIR051
Description
Gets the position fix interval.
Type
Get
Message Structure:
Example:
Parameter:
None
Result:
Returns $PAIR001 message and the query result.
Query result message format:
Parameter included in the result:
Field
Format
Unit
Description
<Time>
Numeric
Millisecond
Position fix interval.
Range: 100–1000. Default value: 1000.
$PAIR050,1000\*12
$PAIR001,050,0\*3E
$PAIR051\*<Checksum><CR><LF>
$PAIR051\*3E
$PAIR001,051,0\*3F
$PAIR051,1000\*13
$PAIR051,<Time>\*<Checksum><CR><LF>
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RYS352x
PAIR Command Guide
Copyright © 2023, REYAX TECHNOLOGY CO., LTD.
2.3.11. Packet Type: 058 PAIR_COMMON_SET_MIN_SNR
Message
$PAIR058
Description
Sets the minimum SNR of satellites in use. If the minimum SNR threshold is set, the
module will not use the satellites with SNR below the threshold.
Type
Set
Message Structure:
Example:
Parameter:
Field
Format
Unit
Description
< MIN\_SNR>
Numeric
dB
Minimum SNR threshold of satellites in use. Range: 9–
37. Default value: 9.
Result:
Returns $PAIR001 message and the query result.
2.3.12. Packet Type: 062
PAIR\_COMMON\_SET\_NMEA\_OUTPUT\_RATE
Message
$PAIR062
Description
Sets the output rate of standard NMEA sentences of each type.
Type
Set
Message Structure:
Example:
Parameter:
Field
Format
Unit
Description
<Type>
Numeric
Type of standard NMEA sentence.
-1 = Reset the output rates of all types of sentences to
default values.
0 = NMEA\_SEN\_GGA
1 = NMEA\_SEN\_GLL
$PAIR058,<MIN\_SNR>\*<Checksum><CR><LF>
$PAIR058,15\*1F
$PAIR001,058,0\*36
$PAIR062,<Type>,<OutputRate>\*<Checksum><CR><LF>
$PAIR062,0,3\*3D
$PAIR001,062,0\*3F
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RYS352x
PAIR Command Guide
Copyright © 2023, REYAX TECHNOLOGY CO., LTD.
2 = NMEA\_SEN\_GSA
3 = NMEA\_SEN\_GSV
4 = NMEA\_SEN\_RMC
5 = NMEA\_SEN\_VTG
6 = NMEA\_SEN\_ZDA
7 = NMEA\_SEN\_GRS
8 = NMEA\_SEN\_GST
9 = NMEA\_SEN\_GNS
<OutputRate>
Numeric
Message outputting rate setting.
0 = Disabled or not supported
N = Output a message once every N position fix(es)
Range of N: 0–20. Default value: 1.
Result:
Returns $PAIR001 message and the query result.
2.3.13. Packet Type: 059 PAIR\_COMMON\_GET\_MIN\_SNR
Message
$PAIR059
Description
Gets the minimum SNR of satellites in use.
Type
Get
Message Structure:
Example:
Parameter:
None
Result:
Returns $PAIR001 message and the query result.
Query result message format:
Parameter included in the result:
Field
Format
Unit
Description
< MIN\_SNR>
Numeric
dB
Minimum SNR of satellites in use.
Range: 9–37. Default value: 9.
$PAIR059\*<Checksum><CR><LF>
$PAIR059\*36
$PAIR001,059,0\*37
$PAIR059,9\*23
$PAIR059,<MIN\_SNR>\*<Checksum><CR><LF>
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## Page 35
RYS352x
PAIR Command Guide
Copyright © 2023, REYAX TECHNOLOGY CO., LTD.
2.3.14. Packet Type: 063
PAIR\_COMMON\_GET\_NMEA\_OUTPUT\_RATE
Message
$PAIR063
Description
Gets the output rate of standard NMEA sentences of each type.
Type
Get
Message Structure:
Example:
Parameter:
Field
Format
Unit
Description
< MIN\_SNR>
Numeric
dB
Type of standard NMEA sentence.
-1 = Return the output rates of all types of standard
NMEA sentences.
0 = NMEA\_SEN\_GGA
1 = NMEA\_SEN\_GLL
2 = NMEA\_SEN\_GSA
3 = NMEA\_SEN\_GSV
4 = NMEA\_SEN\_RMC
5 = NMEA\_SEN\_VTG
6 = NMEA\_SEN\_ZDA
7 = NMEA\_SEN\_GRS
8 = NMEA\_SEN\_GST
9 = NMEA\_SEN\_GNS
Result:
Returns $PAIR001 message and the query result.
Query result message format:
Parameter included in the result:
Field
Format
Unit
Description
<Type>
Numeric
Type of standard NMEA sentence.
0 = NMEA\_SEN\_GGA
1 = NMEA\_SEN\_GLL
2 = NMEA\_SEN\_GSA
3 = NMEA\_SEN\_GSV
4 = NMEA\_SEN\_RMC
$PAIR063,<Type>\*<Checksum><CR><LF>
$PAIR063,0\*23
$PAIR001,063,0\*3E
$PAIR063,0,3\*3C
$PAIR063,<Type>,<OutputRate>\*<Checksum><CR><LF>
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RYS352x
PAIR Command Guide
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5 = NMEA\_SEN\_VTG
6 = NMEA\_SEN\_ZDA
7 = NMEA\_SEN\_GRS
8 = NMEA\_SEN\_GST
9 = NMEA\_SEN\_GNS
<Output Rate>
Numeric
Message outputting rate setting.
0 = Disabled or not supported
N = Output message once per every N position fix(es)
Range: 1–20. Default value: 1.
2.3.15. Packet Type: 066
PAIR\_COMMON\_SET\_GNSS\_SEARCH\_MODE
Message
$PAIR066
Description
Sets the GNSS search mode. The setting is valid when the NVRAM data are valid.
The module reboots when it receives this command.
Type
Set
Message Structure:
Example:
Parameter:
Field
Format
Unit
Description
<GPS\_Enabled>
Numeric
0 = Disable (DO NOT search for GPS satellites)
1 = Search for GPS satellites
<GLONASS\_Enabled>
Numeric
0 = Disable (DO NOT search for GLONASS satellites)
1 = Search for GLONASS satellites
<Galileo\_Enabled>
Numeric
0 = Disable (DO NOT search for Galileo satellites)
1 = Search for Galileo satellites
<BDS\_Enabled>
Numeric
0 = Disable (DO NOT search for BDS satellites)
1 = Search for BDS satellites
Field
Format
Unit
Description
<QZSS\_Enabled>
Numeric
0 = Disable (DO NOT search for QZSS satellites)
1 = Search for QZSS satellites
<Reserved>
Numeric
Always "0"
Result:
Returns $PAIR001 message and the query result.
$PAIR066,<GPS\_Enabled>,<GLONASS\_Enabled>,<Galileo\_Enabled>,<BDS\_Enabled>,<QZSS\_Enab
ed>,<Reserved>\*<Checksum><CR><LF>
//Search for GPS + GLONASS + Galileo + BDS satellites:
$PAIR066,1,1,1,1,0,0\*3A
$PAIR001,066,0\*3B
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RYS352x
PAIR Command Guide
Copyright © 2023, REYAX TECHNOLOGY CO., LTD.
Note:
1. QZSS is always enabled by default.
2. GNSS search modes supported by RYS3520:
⚫
GPS only
⚫
GPS + QZSS
⚫
GPS + GLONASS
⚫
GPS + GLONASS+ QZSS
⚫
GPS + Galileo
⚫
GPS + Galileo + QZSS
⚫
GPS + BDS
⚫
GPS + BDS+ QZSS
⚫
GPS + GLONASS + Galileo + BDS
⚫
GPS + GLONASS + Galileo + BDS+ QZSS
2.3.16. Packet Type: 067
PAIR\_COMMON\_GET\_GNSS\_SEARCH\_MODE
Message
$PAIR067
Description
Gets the GNSS search mode.
Type
Get
Message Structure:
Example:
Parameter:
None
Result:
Returns $PAIR001 message and the query result.
Query result message format:
Parameter included in the result:
Field
Format
Unit
Description
<GPS\_Enabled>
Numeric
0 = Disable (DO NOT search for GPS satellites)
1 = Search for GPS satellites
<GLONASS\_Enabled>
Numeric
0 = Disable (DO NOT search for GLONASS satellites)
1 = Search for GLONASS satellites
<Galileo\_Enabled>
Numeric
0 = Disable (DO NOT search for Galileo satellites)
$PAIR067\*<Checksum><CR><LF>
$PAIR067\*3B
$PAIR001,067,0\*3A
$PAIR067,1,1,1,1,1,0\*3A
$PAIR067<GPS\_Enabled>,<GLONASS\_Enabled>,<Galileo\_Enabled>,<BDS\_Enabled>,<QZSS\_Enable
d>,<Reserved>\*,<Checksum><CR><LF>
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RYS352x
PAIR Command Guide
Copyright © 2023, REYAX TECHNOLOGY CO., LTD.
1 = Search for Galileo satellites
<BDS\_Enabled>
Numeric
0 = Disable (DO NOT search for BDS satellites)
1 = Search for BDS satellites
<QZSS\_Enabled>
Numeric
0 = Disable (DO NOT search for QZSS satellites)
1 or other non-zero values = Search for QZSS
satellites
<Reserved>
Numeric
Always "0"
2.3.17. Packet Type: 070
PAIR\_COMMON\_SET\_STATIC\_THRESHOLD
Message
$PAIR070
Description
Sets the static navigation speed threshold. If the actual speed is below the
threshold, the output position remains unchanged and the output speed is 0. If the
threshold value is set to 0, this function is disabled
Type
Set
Message Structure:
Example:
Parameter:
Field
Format
Unit
Description
<SpeedThreshold>
Numeric
dm/s
Static navigation speed threshold.
Range: 0–20. Default value: 0.
Result:
Returns $PAIR001 message and the query result.
2.3.18. Packet Type: 071
PAIR\_COMMON\_GET\_STATIC\_THRESHOLD
Message
$PAIR071
Description
Gets the static navigation speed threshold.
Type
Get
Message Structure:
$PAIR070,<SpeedThreshold>\*<Checksum><CR><LF>
$PAIR070,4\*25
$PAIR001,070,0\*3C
$PAIR071\*<Checksum><CR><LF>
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RYS352x
PAIR Command Guide
Copyright © 2023, REYAX TECHNOLOGY CO., LTD.
Example:
Parameter:
None
Result:
Returns $PAIR001 message and the query result.
Query result message format:
Parameter included in the result:
Field
Format
Unit
Description
<SpeedThreshold
>
Numeric
m/s
Static navigation speed threshold.
Range: 0–20. Default value: 0.
2.3.19. Packet Type: 072 PAIR\_COMMON\_SET\_ELEV\_MASK
Message
$PAIR072
Description
Sets satellite elevation mask.
Type
Set
Message Structure:
Example:
Parameter:
Field
Format
Unit
Description
< Degree>
Numeric
Degree
Satellite elevation mask.
Range: -90 to 90. Default value: 5.
Result:
Returns $PAIR001 message and the query result.
Note:
1.
Satellites below the elevation mask cannot be used
$PAIR071\*3C
$PAIR001,071,0\*3D
$PAIR071,0.4\*3A
$PAIR071,<SpeedThreshold>\*<Checksum><CR><LF>
$PAIR072,<Degree>\*<Checksum><CR><LF>
$PAIR072,5\*26
$PAIR001,072,0\*3E
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## Page 40
RYS352x
PAIR Command Guide
Copyright © 2023, REYAX TECHNOLOGY CO., LTD.
for positioning.
2.3.20. Packet Type: 073 PAIR\_COMMON\_GET\_ELEV\_MASK
Message
$PAIR073
Description
Gets satellite elevation mask.
Type
Get
Message Structure:
Example:
Parameter:
None
Result:
Returns $PAIR001 message and the query result.
Query result message format:
Parameter included in the result:
Field
Format
Unit
Description
< Degree>
Numeric
Degree
Satellite elevation mask.
Range: -90 to 90.
2.3.21. Packet Type: 074 PAIR_COMMON_SET_AIC_ENABLE
Message
$PAIR074
Description
Enables/disables the active interference cancellation (AIC) function
Type
Set
Message Structure:
$PAIR073\*<Checksum><CR><LF>
$PAIR073\*3E
$PAIR001,073,0\*3F
$PAIR073,5\*27
$PAIR073,<Degree>\*<Checksum><CR><LF>
$PAIR074,<Enabled>\*<Checksum><CR><LF>
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RYS352x
PAIR Command Guide
Copyright © 2023, REYAX TECHNOLOGY CO., LTD.
Example:
Parameter:
Field
Format
Unit
Description
< Enabled>
Numeric
Enable/disable AIC function.
0 = Disable
1 = Enable
Result:
Returns $PAIR001 message and the query result.
2.3.22. Packet Type: 075 PAIR\_COMMON\_GET\_AIC\_STATUS
Message
$PAIR075
Description
Queries the status of active interference cancellation (AIC) function.
Type
Get
Message Structure:
Example:
Parameter:
None
Result:
Returns $PAIR001 message and the query result.
Query result message format:
Parameter included in the result:
Field
Format
Unit
Description
<Status>
Numeric
Status of active AIC function.
0 = Disabled
1 = Enabled
$PAIR074,1\*24
$PAIR001,074,0\*38
$ PAIR075\*<Checksum><CR><LF>
$PAIR075\*38
$PAIR001,075,0\*39
$PAIR075,1\*25
$PAIR075,<Status>\*<Checksum><CR><LF>
41
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## Page 42
RYS352x
PAIR Command Guide
Copyright © 2023, REYAX TECHNOLOGY CO., LTD.
2.3.23. Packet Type: 080
PAIR\_COMMON\_SET\_NAVIGATION\_MODE
Message
$PAIR080
Description
Sets navigation mode
The command fails in the following situations:
if ULP is enabled, it fails to set Non Fitness mode.
if the current RF LNA gain is "High gain", only Normal mode and Drone mode
can be configured.
all detailed failure information will be displayed in system log.
Type
Set
Message Structure:
Example:
Parameter:
Field
Format
Unit
Description
< NavMode>
Numeric
Navigation mode.
0 = Normal mode. For general purposes.
1 = Fitness mode: Used for running and walking
purposes, making low-speed movement (< 5 m/s) more
impactful on position calculation.
2 = Reserved.
3 = Balloon mode: For high-altitude balloon purpose that
the vertical movement will have more effect on the
position calculation.
4 = Stationary mode: For stationary applications where a
zero dynamic assumed.
5 = Drone mode: Used for drone applications with
equivalent dynamic range and vertical acceleration at
different flight phases. (For example, hovering, cruising).
6 = Reserved.
7 = Swimming mode: Used for swimming purposes to
smooth the trajectory and improve the accuracy of
distance calculation.
Result:
Returns PAIR\_ACK for send result.
$PAIR080,<NavMode>\*<Checksum><CR><LF>
1 Send:
2 $PAIR080,1\*2F\r\n ==> Enter fitness mode.
3 Response:
4 $PAIR001,080,0\*33\r\n ==> Success
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RYS352x
PAIR Command Guide
Copyright © 2023, REYAX TECHNOLOGY CO., LTD.
[Note]
Each mode has its altitude limitation.
Please choose the appropriate mode based on the following table.
If your test scenario exceeds the limitation, the position calculation will be incorrect.
Mode Altitude Limitation
Normal mode 10000 m
Fitness mode 10000 m
Balloon mode 80000 m
Stationary mode 10000 m
Drone mode 10000 m
Swimming mode 10000 m
2.3.24. Packet Type: 081
PAIR\_COMMON\_GET\_NAVIGATION\_MODE
Message
$PAIR081
Description
Queries navigation mode.
Type
Get
Message Structure:
Example:
Parameter:
None
Result:
Returns $PAIR001 message and the query result.
Query result message format:
Parameter included in the result:
Field
Format
Unit
Description
$PAIR081\*<Checksum><CR><LF>
$PAIR074,1\*24
$PAIR001,074,0\*38
$PAIR081,<NavMode>\*<Checksum><CR><LF>
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## Page 44
RYS352x
PAIR Command Guide
Copyright © 2023, REYAX TECHNOLOGY CO., LTD.
< NavMode>
Numeric
Navigation mode.
0 = Normal mode. For general purposes.
1 = Fitness mode: Used for running and walking purposes,
making low-speed movement (< 5 m/s) more impactful on
position calculation.
2 = Reserved.
3 = Reserved.
4 = Reserved.
5 = Drone mode: Used for drone applications with equivalent
dynamic range and vertical acceleration at different flight
phases. (For example, hovering, cruising)
6 = Reserved.
7 = Swimming mode: Used for swimming purpose to smooth
the
trajectory and improve the accuracy of distance calculation.
2.3.25. Packet Type: 086
PAIR\_COMMON\_SET\_DEBUGLOG\_OUTPUT
Message
$PAIR086
Description
Enables/disables debug log output in binary format.
Type
Set
Message Structure:
Example:
Parameter:
Field
Format
Unit
Description
< Status>
Numeric
Debug log output setting.
0 = Disable
1 = Enable with full debug log output
2 = Enable with lite debug log output
Result:
Returns $PAIR001 message and the query result.
2.3.26. Packet Type: 087
PAIR\_COMMON\_GET\_DEBUGLOG\_OUTPUT
Message
$PAIR087
$PAIR086,<Status>\*<Checksum><CR><LF>
$PAIR086,1\*29
$PAIR001,086,0\*35
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RYS352x
PAIR Command Guide
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Description
Queries the debug log output setting.
Type
Get
Message Structure:
Example:
Parameter:
None
Result:
Returns $PAIR001 message and the query result.
Query result message format:
Parameter included in the result:
Field
Format
Unit
Description
< Status>
Numeric
Debug log output setting.
0 = Disabled
1 = Enabled
2.3.27. Packet Type: 154
PAIR\_COMMON\_SET\_RLM\_OUTPUT\_ENABLE
Message
$PAIR154
Description
Enables/disables outputting of RLM message.
Type
Set
Message Structure:
Example:
$PAIR087\*<Checksum><CR><LF>
$PAIR087\*35
$PAIR001,087,0\*34
$PAIR087,0\*29
$PAIR087,<Status>\*<Checksum><CR><LF>
$PAIR154,<Enable>\*<Checksum><CR><LF>
$PAIR154,1\*27
$PAIR001,154,0\*3B
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PAIR Command Guide
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Parameter:
Field
Format
Unit
Description
< Enable>
Numeric
Enable/disable outputting RLM message:
0 = Disable
1 = Enable
Result:
Returns $PAIR001 message and enable/disable RLM message outputting periodically (1 Hz).
2.3.28. Packet Type: 155
PAIR\_COMMON\_GET\_RLM\_OUTPUT\_STATUS
Message
$PAIR155
Description
Queries RLM message output setting
Type
Get
Message Structure:
Example:
Parameter:
None
Result:
Returns $PAIR001 message and the query result.
Query result message format:
Parameter included in the result:
Field
Format
Unit
Description
< Enable>
Numeric
RLM message output setting.
0 = Disabled
1 = Enabled
2.3.29. Packet Type: 158 PAIR\_COMMON\_SET\_B1C\_ENABLE
$PAIR155\*<Checksum><CR><LF>
$PAIR155\*3B
$PAIR001,155,0\*3A
$PAIR155,1\*26
$PAIR155,<Enable>\*<Checksum><CR><LF>
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Message
$PAIR158
Description
Enable/Disable tracking of BDS B1C band.
Type
Set
Message Structure:
Example:
Parameter:
Field
Format
Unit
Description
< Enable>
Numeric
Enable/disable tracking of BDS B1C band:
0 = Disable
1 = Enable
Result:
Returns $PAIR001 message
2.3.30. Packet Type: 382 PAIR\_TEST\_LOCK\_SYSTEM\_SLEEP
Message
$PAIR382
Description
Enables/disables the locking of Sleep mode. The CPU core will not enter Sleep
mode automatically after the command is sent.
Type
Set
Message Structure:
Example:
Parameter:
Field
Format
Unit
Description
< Enable>
Numeric
Enable/disable tracking of BDS B1C band:
0 = Disable
1 = Enable
$PAIR158,<Enable>\*<Checksum><CR><LF>
$PAIR158,1\*2B
$PAIR001,158,0\*37
$PAIR382,<Enabled>\*<Checksum><CR><LF>
$PAIR382,1\*2E
$PAIR001,382,0\*32
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Result:
Returns $PAIR001 message
2.3.31. Packet Type: 400 PAIR_DGPS_SET_MODE
Message
$PAIR400
Description
Sets the DGPS correction data source.
Type
Set
Message Structure:
Example:
Parameter:
Field
Format
Unit
Description
< Mode>
Numeric
DGPS data source.
0 = No DGPS data source
1 = RTCM
2 = SBAS (Including WAAS/EGNOS/GAGAN/MSAS))
Result:
Returns a $PAIR001 message.
Note:
1.
If there is no jamming, $PAIRSPF,1\*52 will be reported to indicate good status (status 1).
2.
In case of continuous jamming, the jamming status will change from 1 to 2 and finally to 3
1) When no position fix has been completed: module status is 1 right after jamming detection is enabled,
and then changes to 2 when jamming is detected. During this process, the module keeps attempting to
get a fix; if the anti-jamming repair fails, the jamming status changes to 3.
2) After a successful position fix: jamming status is 1 right after jamming detection is enabled, and
changes to 2 and 3 consecutively when jamming is detected.
2.3.32. Packet Type: 401 PAIR\_DGPS\_GET\_MODE
Message
$PAIR401
Description
Queries the DGPS correction data source.
Type
Get
Message Structure:
$PAIR400,<Mode>\*<Checksum><CR><LF>
$PAIR400,2\*20
$PAIR001,400,0\*3F
$PAIR401\*<Checksum><CR><LF>
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Example:
Parameter:
None
Result:
Returns $PAIR001 message and the query result.
Query result message format:
Parameter included in the result:
Field
Format
Unit
Description
< Mode>
Numeric
DGPS data source.
0 = No DGPS data source
1 = RTCM
2 = SBAS (Including WAAS/EGNOS/GAGAN/MSAS)
2.3.33. Packet Type: 410 PAIR\_SBAS\_ENABLE
Message
$PAIR410
Description
Enables/disables SBAS satellite searching. SBAS supports wide-area or regional
augmentation
through
geostationary
satellite
broadcast
messages.
The
geostationary satellites broadcast GNSS integrity and correction data with the
assistance of multiple ground stations that are located at accurately surveyed
points.
Type
Set
Message Structure:
Example:
Parameter:
Field
Format
Unit
Description
< Enabled>
Numeric
Enable or disable the search of SBAS satellites.
0 = Disable
1 = Enable
$PAIR401\*3F
$PAIR001,401,0\*3E
$PAIR401,2\*21
$PAIR401,<Mode>\*<Checksum><CR><LF>
$PAIR410,<Enabled>\*<Checksum><CR><LF>
$PAIR410,1\*22
$PAIR001,410,0\*3E
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Result:
Returns $PAIR001 message.
2.3.34. Packet Type: 411 PAIR\_SBAS\_GET\_STATUS
Message
$PAIR411
Description
Queries the status of SBAS satellite search.
Type
Get
Message Structure:
Example:
Parameter:
None
Result:
Returns $PAIR001 message and the query result.
Query result message format:
Parameter included in the result:
Field
Format
Unit
Description
< Enabled>
Numeric
tatus of SBAS satellite search.
0 = Disabled
1 = Enabled
Note:
1.
When the navigation mode is Fitness or Swimming mode (see $PAIR080), SBAS is not supported.
$PAIR411\*<Checksum><CR><LF>
$PAIR411\*3E
$PAIR001,411,0\*3F
$PAIR411,1\*23
$PAIR411,<Enabled>\*<Checksum><CR><LF>
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2.3.35. Packet Type: 432 PAIR\_RTCM\_SET\_OUTPUT\_MODE
Message
$PAIR432
Description
Sets RTCM output mode.
Type
Set
Message Structure:
Example:
Parameter:
Field
Format
Unit
Description
<Mode>
Numeric
RTCM output mode setting.
-1 = Disable outputting RTCM
0 = Enable outputting RTCM3 with message type MSM4
1 = Enable outputting RTCM3 with message type MSM7
Result:
Returns $PAIR001 message.
2.3.36. Packet Type: 433 PAIR\_RTCM\_GET\_OUTPUT\_MODE
Message
$PAIR433
Description
Queries RTCM output mode.
Type
Get
Message Structure:
Example:
Parameter:
None
Result:
Returns $PAIR001 message and the query result.
$PAIR432,<Mode>\*<Checksum><CR><LF>
$PAIR432,1\*22
$PAIR001,432,0\*3E
$PAIR433\*<Checksum><CR><LF>
$PAIR433\*3E
$PAIR001,433,0\*3F
$PAIR433,-1\*0E
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Query result message format:
Parameter included in the result:
Field
Format
Unit
Description
< Mode>
Numeric
RTCM output mode setting.
-1 = Disable outputting RTCM
0 = Enable outputting RTCM 10403.3 with message type
MSM4
1 = Enable outputting RTCM 10403.3 with message type
MSM7
2.3.37. Packet Type: 434 PAIR\_RTCM\_SET\_OUTPUT\_ANT\_PNT
Message
$PAIR434
Description
Enables/disables outputting stationary antenna reference in RTCM format.
Type
Set
Message Structure:
Example:
Parameter:
Field
Format
Unit
Description
<Enable>
Numeric
Stationary antenna reference point (Message type 1005).
0 = Disable
1 = Enable
Result:
Returns $PAIR001 message.
2.3.38. Packet Type: 435 PAIR\_RTCM\_GET\_OUTPUT\_ANT\_PNT
Message
$PAIR435
Description
Queries the setting of stationary antenna reference point.
Type
Get
$PAIR433,<Mode>\*<Checksum><CR><LF>
$PAIR434,<ENABLE>\*<Checksum><CR><LF>
$PQTM434,1\*36
$PAIR001,432,0\*3E
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Message Structure:
Example:
Parameter:
None
Result:
Returns $PAIR001 message and the query result.
Query result message format:
Parameter included in the result:
Field
Format
Unit
Description
< Enable>
Numeric
Stationary antenna reference point (Message type 1005).
0 = Disable
1 = Enable
2.3.39. Packet Type: 436 PAIR\_RTCM\_SET\_OUTPUT\_EPHEMERIS
Message
$PAIR436
Description
Enables/disables outputting satellite ephemeris information in RTCM format.
Type
Set
Message Structure:
Example:
Parameter:
Field
Format
Unit
Description
<Enable>
Numeric
Enable/disable outputting satellite ephemeris.
0 = Disable
1 = Enable
$PAIR435\*<Checksum><CR><LF>
$PAIR435\*38
$PAIR001,435,0\*39
$PAIR435,0\*24
$PAIR435,<Enabled>\*<Checksum><CR><LF>
$PAIR436,<ENABLE>\*<Checksum><CR><LF>
$PQTM436,1\*34
$PAIR001,436,0\*3A
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Result:
Returns $PAIR001 message
2.3.40. Packet Type: 437
PAIR\_RTCM\_GET\_OUTPUT\_EPHEMERIS
Message
$PAIR437
Description
Queries the setting of satellite ephemeris.
Type
Get
Message Structure:
Example:
Parameter:
None
Result:
Returns $PAIR001 message and the query result.
Query result message format:
Parameter included in the result:
Field
Format
Unit
Description
< Enable>
Numeric
Enable/disable getting satellite ephemeris
0 = Disable
1 = Enable
2.3.41. Packet Type: 490 PAIR_EASY_ENABLE
Message
$PAIR490
Description
Enables/disables EASY function.
Type
Set
Message Structure:
$PAIR437\*<Checksum><CR><LF>
$PAIR437\*3A
$PAIR001,437,0\*3B
$PAIR437,1\*27
$PAIR437,<ENABLE>\*<Checksum><CR><LF>
$PAIR490,<Enabled>\*<Checksum><CR><LF>
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Example:
Parameter:
Field
Format
Unit
Description
<Enabled>
Numeric
EASY function setting.
0 = Disable
1 = Enable
Result:
Returns $PAIR001 message
2.3.42. Packet Type: 491 PAIR\_EASY\_GET\_STATUS
Message
$PAIR491
Description
Queries the status of EASY function.
Type
Get
Message Structure:
Example:
Parameter:
None
Result:
Returns $PAIR001 message and the query result.
Query result message format:
$PAIR490,1\*2A
$PAIR001,490,0\*36
$PAIR491\*<Checksum><CR><LF>
$ //If <Enabled> is set to enable:
$PAIR491\*36
$PAIR001,491,0\*37
$PAIR491,1,0\*37
//If <Enabled> is set to disable:
$PAIR491\*36
$PAIR001,491,0\*37
$PAIR491,0\*2A
$PAIR491,<Enabled>,<Status>\*<Checksum><CR><LF>
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Parameter included in the result:
Field
Format
Unit
Description
<Enabled>
Numeric
EASY function setting.
0 = Disable
1 = Enable
<Status>
Numeric
EASY data extension status.
0 = Not finished
1 = 1-day extension finished
2 = 2-day extension finished
3 = 3-day extension finished
If <Enabled> is set to 0, <Status> will not be displayed
in the result.
2.3.43. Packet Type: 511
PAIR\_NVRAM\_SAVE\_NAVIGATION\_DATA
Message
$PAIR511
Description
Saves current navigation data from RTC RAM to flash.
Type
Command
Message Structure:
Example:
Parameter:
None
Result:
Returns $PAIR001 message
Query result message format:
\*Note:
1.
If RTC cannot be powered after module power supply is cut off, this command must be sent every
time the parameters are modified.
2.
In case of fix rates greater than 1 Hz, power off the GNSS system with $PAIR382,1\*2E and
$PAIR003\*39 before sending this command. After sending $PAIR511\*3F, send $PAIR002\*38 to re
power the module. This limitation does not apply to fix rates below 1 Hz
$PAIR511\*<Checksum><CR><LF>
$PAIR511\*3F
$PAIR001,511,1\*3F
$PAIR001,511,0\*3E:
$PAIR491,<Enabled>,<Status>\*<Checksum><CR><LF>
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2.3.44. Packet Type: 513 PAIR\_NVRAM\_SAVE\_SETTING
Message
$PAIR513
Description
Saves the current configurations from RTC RAM to flash.
Type
Command
Message Structure:
Example:
Parameter:
None
Result:
Returns $PAIR001 message
\*Note:
1.
I If RTC cannot be powered by the hardware after the module power supply is cut off, this command
must be sent every time the parameters are modified.
2.
In multi-Hz, power off the GNSS system with $PAIR382,1\*2E and $PAIR003\*39 before sending this
command. After sending $PAIR513\*3D, send $PAIR002\*38 again to power on the module. This
limitation does not apply to frequencies below 1 Hz.
2.3.45. Packet Type: 650
PAIR\_LOW\_POWER\_ENTRY\_RTC\_MODE
Message
$PAIR650
Description
Powers off the GNSS system, except the clock. This command sets the CPU to
Backup mode, in which it cannot receive any commands. For details about Backup
mode, see documents [1], [2] and [3] hardware designs.
Type
Set
Message Structure:
Example:
$PAIR513\*<Checksum><CR><LF>
$PAIR513\*3D
$PAIR001,513,0\*3C
$PAIR650,<Second>\*<Checksum><CR><LF>
$PAIR650,1\*24
$PAIR001,650,4\*3C
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Parameter:
Field
Format
Unit
Description
<Second>
Numeric
Duration of Backup mode.
Range: 0. Enter Backup mode without any timer
10–62208000 (2 years).
Result:
⚫
If successful, the module will be set to Backup mode and be prevented from receiving
any commands
⚫
If failed, the $PAIR001 message will be returned
2.3.46. Packet Type: 680 PAIR\_GLP\_ENABLE
Message
$PAIR680
Description
Enables/disables GPS Low Power (GLP) mode, which utilizes the adjustment of the
duty cycle concept to ensure good performance and low power consumption in
different environments.
Type
Set
Message Structure:
Example:
Parameter:
Field
Format
Unit
Description
<Enabled>
Numeric
Enable/disable GLP mode.
0 = Disable
1 = Enable
Result:
Returns $PAIR001 message.
\*Note:
1.
Requirements for entering GLP mode
1) Fix rate is 1 Hz.
2) Satellite constellation configuration is GPS only.
3) Navigation mode is fitness mode.
2.
When the GLP mode is enabled, some of the features will be disabled automatically, such as SBAS
ALP, FLP, and the periodic power saving mode.
$PAIR680,<Enabled>\*<Checksum><CR><LF>
$PAIR680,1\*29
$PAIR001,680,0\*35
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2.3.47. Packet Type: 681 PAIR\_GLP\_GET\_STATUS
Message
$PAIR681
Description
Queries GPS Low Power (GLP) mode setting.
Type
Get
Message Structure:
Example:
Parameter:
None
Result:
Returns $PAIR001 message and the query result.
Query result message format:
Parameter included in the result:
Field
Format
Unit
Description
<Enabled>
Numeric
EASY function setting.
0 = Disable
1 = Enable
2.3.48. Packet Type: 690 PAIR\_PERIODIC\_SET\_MODE
Message
$PAIR690
Description
Sets Periodic Power Saving mode configurations. There are two stages in periodic
power saving mode (Run stage and Sleep stage), and they will change periodically
according to the setting. In Run stage, the GNSS module measures and calculates
the position. In Sleep stage, the GNSS module enters power saving modes.
Type
Set
Message Structure:
Example:
$PAIR681\*<Checksum><CR><LF>
$PAIR681\*35
$PAIR001,681,0\*34
$PAIR681,1\*28
$PAIR681,<Enabled>\*<Checksum><CR><LF>
$PAIR690,<Mode>,<FirstRun>,<FirstSleep>,<SecondRun>,<SecondSleep>\*<Checksum><CR><LF>
$PAIR690,1,21,39,48,72\*28
$PAIR001,690,0\*34
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Parameter:
Field
Format
Unit
Description
<Mode>
Numeric
State of Periodic Power Saving mode.
0 = Disabled
1 = Smart periodic mode enabled
2 = Strict periodic mode enabled
<FirstRun>
Numeric
Second
Run time. Range: 3–518400.
<FirstSleep>
Numeric
Second
Sleep time. Range: 3–518400.
<SecondRun>
Numeric
Second
Second run time. Range: 0 or 3–518400.
<SecondSleep>
Numeric
Second
Second sleep time. Range: 0 or 3–518400.
Result:
Returns a $PAIR001 message.
\*Note:
1.
<FirstRun>: Interval in seconds after exiting Sleep mode and getting a new position fix.
2.
<FirstSleep>: Duration of Sleep mode after getting a fix (or attempting to get a fix).
3.
<SecondRun>: GNSS module will use “second run time” instead of “first run time” setting when
there is no signal. The second run time can be “0” only when the second sleep time is “0”.
4.
<SecondSleep>: GNSS module will use “second sleep time” instead of “first sleep time” setting
when there is no signal. The second sleep time can be “0” only when the second run time is “0”.
2.3.49. Packet Type: 691 PAIR\_PERIODIC\_GET\_MODE
Message
$PAIR691
Description
Queries Periodic Power Saving Mode configurations.
Type
Get
Message Structure:
Example:
Parameter:
None
Result:
Returns $PAIR001 message and the query result.
$PAIR691\*<Checksum><CR><LF>
$PAIR691\*34
$PAIR001,691,1\*34
$PAIR001,691,0\*35
$PAIR691,0,3,12,18,72\*14
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Query result message format:
Parameter included in the result:
Field
Format
Unit
Description
<Mode>
Numeric
State of Periodic Power Saving mode.
0 = Disabled
1 = Smart periodic mode enabled
2 = Strict periodic mode enabled
<FirstRun>
Numeric
Second
Run time. Range: 3–518400.
<FirstSleep>
Numeric
Second
Sleep time. Range: 3–518400.
<SecondRun>
Numeric
Second
Second run time. Range: 0 or 3–518400.
<SecondSleep>
Numeric
Second
Second sleep time. Range: 0 or 3–518400.
2.3.50. Packet Type: 730 PAIR\_FLP\_ENABLE
Message
$PAIR730
Description
The fitness low power mode is a concept to ensure good performance and low power
consumption in different environments.
This command is to activate fitness low power mode.
For more detailed information, please refer to the Power Saving Mode chapter of
fitness low power mode section in the
Airoha\_IoT\_SDK\_for\_GNSS\_Developers\_Guide under the doc folder in
IoT\_SDK\_for\_Location package.
This command is only supported under FITNESS navigation mode.
Type
Set
Message Structure:
Example:
Parameter:
Field
Format
Unit
Description
<Enabled>
Numeric
Enable/disable FLP mode setting.
0 = Disable
1 = Enable
Result:
Returns a $PAIR001 message.
$PAIR691,<Mode>,<FirstRun>,<FirstSleep>,<SecondRun>,<SecondSleep>\*<Checksum><CR><LF>
$PAIR730,<Enabled>\*<Checksum><CR><LF>
$PAIR730,1\*23
$PAIR001,730,0\*3F
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\*Note:
This configuration will not keep in the flash or RTC RAM. Please send this command every time after the
GNSS subsystem or main power reboots.
This command will get a failed response if GNSS-SubSys does not power on. You can get the GNSS-SubSys
status by PAIR\_GNSS\_SUBSYS\_GET\_STATUS.
2.3.51. Packet Type: 731 PAIR_FLP_GET_STATUS
Message
$PAIR731
Description
Queries FLP mode setting.
Type
Get
Message Structure:
Example:
Parameter:
None
Result:
Returns $PAIR001 message and the query result.
Query result message format:
Parameter included in the result:
Field
Format
Unit
Description
<Enabled>
Numeric
Enable/disable FLP mode setting.
0 = Disable
1 = Enable
2.3.52. Packet Type: 732 PAIR\_FLP\_ENABLE
Message
$PAIR732
Description
Enables/disables adaptive low power (ALP) mode, which ensures good
performance and low power consumption in different environments.
Type
Set
Message Structure:
$PAIR731\*<Checksum><CR><LF>
$PAIR731\*3F
$PAIR001,731,0\*3E
$PAIR731,1\*22
$PAIR731,<Enabled>\*<Checksum><CR><LF>
$PAIR732,<Enabled>\*<Checksum><CR><LF>
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Example:
Parameter:
Field
Format
Unit
Description
<Enabled>
Numeric
Enable/disable ALP mode setting.
0 = Disable
1 = Enable
Result:
Returns a $PAIR001 message.
\*Note:
This configuration will not keep in the flash or RTC RAM. Please send this command every time after the
GNSS subsystem or main power reboots.
This command will get a failed response if GNSS-SubSys does not power on. You can get the GNSS-
SubSys status by PAIR\_GNSS\_SUBSYS\_GET\_STATUS.
2.3.53. Packet Type: 733 PAIR\_ALP\_GET\_STATUS
Message
$PAIR733
Description
Queries adaptive low-power (ALP) mode configuration setting.
Type
Get
Message Structure:
Example:
Parameter:
None
Result:
Returns $PAIR001 message and the query result.
Query result message format:
Parameter included in the result:
Field
Format
Unit
Description
$PAIR732,1\*21
$PAIR001,732,0\*3D
$PAIR733\*<Checksum><CR><LF>
$PAIR733\*3D
$PAIR001,733,0\*3C
$PAIR733,1\*20
$PAIR733,<Enabled>\*<Checksum><CR><LF>
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<Enabled>
Numeric
Enable/disable ALP mode setting.
0 = Disable
1 = Enable
2.3.54. Packet Type: 752 PAIR\_PPS\_SET\_CONFIG\_CMD
Message
$PAIR752
Description
Sets PPS configurations.
Type
Set
Message Structure:
Example:
Parameter:
Field
Format
Unit
Description
<PPSType>
Numeric
PPS pulse type.
0 = Disable
1 = After the first fix
2 = 3D fix only
3 = 2D/3D fix only
4 = Always
<PPSPulseWidth>
Numeric
Millisecond
PPS pulse width.
Range: 1-999.
Default value: 100.
Result:
Returns a $PAIR001 message.
2.3.55. Packet Type: 900 PAIR\_LOCUS\_ENABLE
Message
$PAIR900
Description
Enables/disables LOCUS to save fix data
Type
Set
Message Structure:
Example:
$PAIR752,<PPSType>,<PPSPulseWidth>\*<Checksum><CR><LF>
$PAIR752,2,100\*39
$PAIR001,752,0\*3B
$PAIR900,<Enable>\*<Checksum><CR><LF>
$PAIR900,1\*2E
$PAIR001,900,0\*32
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Parameter:
Field
Format
Unit
Description
<Enable>
Numeric
Enable/disable saving fix data by LOCUS.
0 = Disable
1 = Enable
Result:
Returns a $PAIR001 message.
2.3.56. Packet Type: 901 PAIR\_LOCUS\_GET\_STATUS
Message
$PAIR901
Description
Queries whether LOCUS saves data.
Type
Get
Message Structure:
Example:
Parameter:
None
Result:
Returns $PAIR001 message and the query result.
Query result message format:
Parameter included in the result:
Field
Format
Unit
Description
<Enabled>
Numeric
LOCUS setting:
0 = Disable
1 = Enable
2.3.57. Packet Type: 902 PAIR\_LOCUS\_SET\_MODE
Message
$PAIR902
$PAIR901\*<Checksum><CR><LF>
$PAIR901\*32
$PAIR001,901,0\*33
$PAIR901,0\*2E
$PAIR901,<Enabled>\*<Checksum><CR><LF>
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Description
Sets LOCUS saving mode.
Type
Set
Message Structure:
Example:
Parameter:
Field
Format
Unit
Description
<Mode>
Hexadecimal
Save Mode:
Bit 0 = 1. Normal. Record each fix data.
Bit 1 = 1. Time-triggered save mode. Record
once after the time threshold is met. For details,
see Chapter 2.3.64 Packet Type: 904
PAIR\_LOCUS\_SET\_THRESHOLD.
Bit 2 = 1. Speed-triggered save mode. Record
once after the speed threshold is met. For the
value of N, see Chapter 2.3.64 Packet Type: 904
PAIR\_LOCUS\_SET\_THRESHOLD.
Bit 3= 1. Distance-triggered save mode. Record
once after the distance threshold is met. For
details, see Chapter 2.3.64 Packet Type: 904
PAIR\_LOCUS\_SET\_THRESHOLD.
Bit 4 = 1. Before entering sleep mode. Record
before entering sleep.
Bit 5 = 1. User control. Record after user send
$PAIR907\*34. For details, see Chapter 2.3.67
Packet Type: 907 PAIR\_LOCUS\_LOG\_NOW.
Note that when the value of each bit is 0, it means
that the corresponding data is not recorded.
<Check\_3D\_Fix>
Numeric
Millisecond
Whether it is necessary to check 3D fix or not.
0 = Do not check
1 = It is necessary to check. If you set this type as 1,
system will save the position with 3D fixed
Result:
Returns $PAIR001 message.
\*Note:
1.
LOCUS saving must be disabled before sending this command
$PAIR902,<Mode>,<Check\_3D\_Fix>\*<Checksum><CR><LF>
//Set mode as out of time & out of speed mode. It is necessary to check 3D fix:
$PAIR902,6,1\*36
$PAIR001,902,0\*30
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2.3.58. Packet Type: 903 PAIR\_LOCUS\_GET\_MODE
Message
$PAIR903
Description
Queries LOCUS saving mode.
Type
Get
Message Structure:
Example:
Parameter:
None
Result:
Returns $PAIR001 message and the query result.
Query result message format:
Parameter included in the result:
Field
Format
Unit
Description
<Mode>
Hexadecimal
Save Mode:
Bit 0 = 1. Normal. Record each fix data.
Bit 1 = 1. Time-triggered save mode. Record
once after the time threshold is met. For details,
see Chapter 2.3.64 Packet Type: 904
PAIR\_LOCUS\_SET\_THRESHOLD.
Bit 2 = 1. Speed-triggered save mode. Record
once after the speed threshold is met. For the
value of N, see Chapter 2.3.64 Packet Type: 904
PAIR\_LOCUS\_SET\_THRESHOLD.
Bit 3= 1. Distance-triggered save mode. Record
once after the distance threshold is met. For
details, see Chapter 2.3.64 Packet Type: 904
PAIR\_LOCUS\_SET\_THRESHOLD.
Bit 4 = 1. Before entering sleep mode. Record
before entering sleep.
Bit 5 = 1. User control. Record after user send
$PAIR907\*34. For details, see Chapter 2.3.67
Packet Type: 907 PAIR\_LOCUS\_LOG\_NOW.
Note that when the value of each bit is 0, it means
that the corresponding data is not recorded.
$PAIR903\*<Checksum><CR><LF>
$PAIR903\*30
$PAIR001,903,0\*31
$PAIR903,6,1\*37
$PAIR903,<Mode>,<Check\_3D\_Fix>\*<Checksum><CR><LF>
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<Check\_3D\_Fix>
Numeric
Millisecond
Whether it is necessary to check 3D fix or not.
0 = Do not check
1 = It is necessary to check. If you set this type as 1,
system will save the position with 3D fixed
Result:
Returns a $PAIR001 message.
2.3.59. Packet Type: 904 PAIR\_LOCUS\_SET\_THRESHOLD
Message
$PAIR904
Description
Sets LOCUS mode threshold.
Type
Set
Message Structure:
Example:
Parameter:
Field
Format
Unit
Description
<Mode>
Numeric
Saving Mode:
0 = Time-triggered save mode
1 = Speed-triggered save mode.
2 = Distance-triggered save mode
<Check\_3D\_Fix>
Numeric
Meter
second
m/s
When <mode> = 0, it indicates time threshold.
Range: 1-43200. Unit: second.
When <mode> = 1, it indicates speed threshold.
Range: 1-100. Unit: m/s.
When <mode> = 2, it indicates distance threshold.
Range: 1-50000. Unit: meter.
Result:
Returns $PAIR001 message.
\*Note:
1.
Make sure that LOCUS saving is disabled before executing $PAIR902.
2.
Make sure to set the save mode as time-triggered save mode, speed-triggered save mode, or
distance-triggered save mode before executing $PAIR904 to set mode threshold.
$PAIR904,<Mode>,<Threshold>\*<Checksum><CR><LF>
$PAIR904,1,5\*33
$PAIR001,904,0\*36
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2.3.60. Packet Type: 905 PAIR\_LOCUS\_GET\_THRESHOLD
Message
$PAIR905
Description
Queries LOCUS mode threshold.
Type
Get
Message Structure:
Example:
Parameter:
Field
Format
Unit
Description
<Mode>
Numeric
Saving Mode:
0 = Time-triggered save mode
1 = Speed-triggered save mode.
2 = Distance-triggered save mode
Result:
Returns $PAIR001 message and the query result.
Query result message format:
Parameter included in the result:
Field
Format
Unit
Description
<Threshold>
Numeric
Meter
second
m/s
When <mode> = 0, it indicates time threshold.
Range:1-43200. Unit: second.
When <mode> = 1, it indicates speed threshold.
Range:1-100. Unit: m/s.
When <mode> = 2, it indicates distance
threshold. Range: 1-50000. Unit: meter
2.3.61. Packet Type: 906 PAIR_LOCUS_CLEAR
Message
$PAIR906
Description
Clears LOCUS Data.
Type
Command
$PAIR905\*<Checksum><CR><LF>
$PAIR905,0\*2A
$PAIR001,905,0\*37
$PAIR905,15\*1E
$PAIR905,<Threshold>\*<Checksum><CR><LF>
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Message Structure:
Example:
Parameter:
Field
Format
Unit
Description
<Type>
Numeric
Clean type.
0 = Clear record data and restore to default setting
1 = Clear record data only
2 = Clear user setting and restore to default setting
Result:
Returns $PAIR001 message.
2.3.62. Packet Type: 907 PAIR\_LOCUS\_LOG\_NOW
Message
$PAIR907
Description
Saves current fix data in flash.
Type
Command
Message Structure:
Example:
Parameter:
None
Result:
Returns $PAIR001 message
\*Note:
1.
Make sure to set the value of user control (bit 5) as 1 in <mode> field of $PAIR902 before executing
this command.
2.
Saved fix data: UTC time, fix status, longitude, latitude, altitude, ground speed, heading degree,
horizontal dilution of precision, number of satellites used.
2.3.63. Packet Type: 908 PAIR\_LOCUS\_GET\_DATA
Message
$PAIR908
$PAIR906,<Type>\*<Checksum><CR><LF>
$PAIR906,0\*29
$PAIR001,906,0\*34
$PAIR907\*<Checksum><CR><LF>
$PAIR907\*34
$PAIR001,907,0\*35
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Description
Queries LOCUS data. There are two output formats to choose from standard NMEA
format and PAIR format.
Type
Command
Message Structure:
Example:
Parameter:
Field
Format
Unit
Description
<Type>
Numeric
Response type:
0 = Response in NMEA format
1 = Response in PAIR format
Result:
Returns $PAIR001 message.
Query result message format:
$PAIR908,<Type>\*<Checksum><CR><LF>
//If <Type> = 0, LOCUS example:
$PAIR908,0\*27
LOCUS output:
$PAIR908,0\*27
$PAIR908,1,5699,23\*24
$LOGGA,033632.000,3148.8100,N,11707.0463,E,1,4,2.45,3.0,M,,M,,\*53
$LORMC,033632.000,A,3148.8100,N,11707.0463,E,0.00,0.00,160122,,,A,V\*07
…
$LOGGA,033645.000,3148.8108,N,11707.0451,E,1,8,1.14,13.0,M,,M,,\*60
$LORMC,033645.000,A,3148.8108,N,11707.0451,E,0.00,0.00,160122,,,A,V\*0E
$LOGGA,033649.000,3148.8133,N,11707.0461,E,1,9,1.00,15.0,M,,M,,\*65
$LORMC,033649.000,A,3148.8133,N,11707.0461,E,0.00,0.00,160122,,,A,V\*09
$PAIR908,3\*24
$PAIR001,908,0\*3A
//If <Type> = 1, LOCUS example:
$PAIR908,0\*27
LOCUS output:
$PAIR908,0\*27
$PAIR908,1,5699,23\*24
$PAIR908,2,61E392B9,01,12F65A6D,45CEB007,0021,0000,0000,005F,09\*77
$PAIR908,2,61E392BA,01,12F65A67,45CEAFDD,0021,0000,0000,005D,0A\*74
…
$PAIR908,2,61E3AC35,02,12FBDCD1,45E9D8ED,0006,0000,8960,003C,1D\*0F
$PAIR908,2,61E3AC44,02,12FBDCD1,45E9D8ED,0006,0000,8960,0038,1D\*72
$PAIR908,2,61E3AC4E,02,12FBE812,45E9D677,0007,0007,8BBC,0036,1E\*75
$PAIR908,3\*24
$PAIR001,908,0\*3A
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1. Start reading LOCUS data
2. Read LOCUS data:
Parameters included in the result:
Field
Format
Unit
Description
<Record\_Num>
Numeric
Total number of recorded LOCUS data.
<Record\_Size>
Numeric
Size of each LOCUS data recorded.
3. Output LOCUS data according to response type of field:
⚫
If = 0, the message outputtings are LOGGA + LORMC. Please refer to GGA for LOGGA
format and RMC for LORMC format.
⚫
If = 1, output message format is as follows:
Parameters included in the result:
Field
Format
Unit
Description
<Fix\_Type>
Hexadecimal
Fix quality, refer to Quality Indicator in GGA. 1 byte
in LOCUS data.
<Lat>
Hexadecimal
Degree
User latitude in WGS84. 4 bytes in LOCUS data.
<Lon>
Hexadecimal
Degree
User longitude in WGS84. 4 bytes in LOCUS data.
<Height>
Hexadecimal
Meter
User altitude above mean sea level. 2 bytes in LOCUS
data.
<Speed>
Hexadecimal
m/s
User ground speed (2-D). 2 bytes in LOCUS data.
<Heading>
Hexadecimal
Degree
User heading of motion. 2 bytes in LOCUS data.
<HDOP>
Hexadecimal
Horizontal (2-D) dilution of precision. 2 bytes in LOCUS
data.
<SatNo>
Hexadecimal
Number of satellites used in navigation solution. 2
bytes in LOCUS data.
4. LOCUS data read ends.
\*Note:
1.
Make sure to execute $PAIR900,1\*2E before executing $PAIR908.
$PAIR908,0\*<Checksum><CR><LF>
$PAIR908,1,<Record\_Num>,<Record\_Size>\*<Checksum><CR><LF>
$PAIR908,2,<UTC>,<Fix\_Type>,<Lat>,<Lon>,<Height>,<Speed>,<Heading>,<HDOP>,<SatNo>\*<Chec
ksum><CR><LF>
$PAIR908,0\*<Checksum><CR><LF>
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2.3.64. Packet Type: 909 PAIR\_LOCUS\_GET\_RECORD\_NUM
Message
$PAIR909
Description
Queries total number of recorded LOCUS data.
Type
Command
Message Structure:
Example:
Parameter:
None
Result:
Returns $PAIR001 message and the query result.
Query result message format:
Parameter included in the result:
Field
Format
Unit
Description
< Record\_Num>
Numeric
Total number of recorded LOCUS data.
$PAIR909\*<Checksum><CR><LF>
$PAIR909\*3A
$PAIR001,909,0\*3B
$PAIR909,5699\*15
$PAIR909,<Record\_Num>\*<Checksum><CR><LF>
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3
RTCM Protocol
The modules support RTCM protocol which is in accordance with RTCM Standard 10403.3 Differential
GNSS (Global Navigation Satellite Systems) Services – Version 3. This protocol is used to transfer GNSS
raw measurement data and is available from https://www.rtcm.org/
Table 5: Applicable Variants and Supported Frequency Bands
Message Type
Mode
Message Name
1005
Output
Stationary RTK Reference Station ARP.
1019
Output
GPS Ephemerides.
1020
Output
GLONASS Ephemerides.
1042
Output
BDS Satellite Ephemeris Data.
1044
Output
QZSS Ephemerides.
1046
Output
Galileo I/NAV Satellite Ephemeris Data.
1074
Output
GPS MSM4.
1077
Output
GPS MSM7.
1084
Output
GLONASS MSM4.
1087
Output
GLONASS MSM7.
1094
Output
Galileo MSM4.
1097
Output
Galileo MSM7.
1114
Output
QZSS MSM4.
1117
Output
QZSS MSM7.
1124
Output
BDS MSM4.
1127
Output
BDS MSM7.
\*Note:
1.
$PAIR432 can enable/disable MSM4/MSM7 (1074, 1077, 1084, 1087, 1094, 1097,1114, 1117, 1124,
1127) messages if the corresponding constellation is enabled.
2.
$PAIR434 can enable/disable Stationary RTK Reference Station ARP (1005) message.
3.
$PAIR436 can enable/disable ephemeris (1019, 1020, 1042, 1044, 1046) messages if the
corresponding constellation is enabled.
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4
Appendix A – References
Table 6: Terms and Abbreviations
Abbreviation
Description
2D
2 Dimension
3D
3 Dimension
ACK
Acknowledgement
ALP
Adaptive Low Power
AIC
Active Interference Cancellation
BDS
BDS Navigation Satellite System
C/N0
Carrier-to-Noise-Density Ratio
COG
Course over Ground
COGM
Course over Ground (in Magnetic North Course Direction)
COGT
Course over Ground (in True North Course Direction)
DGPS
Differential Global Positioning System
DOP
Dilution of Precision
EASY
Embedded Assist System
EGNOS
European Geostationary Navigation Overlay Service
EPO
Extended Prediction Orbit
FLP
Fitness Low Power
GAGAN
GPS Aided GEO Augmented Navigation
GGA
Global Positioning System Fix Data
GLL
Geographic Position – Latitude/Longitude
GLONASS
Global Navigation Satellite System (Russia)
GLP
GPS Low Power
GNS
GNSS Fix Data
GNSS
Global Navigation Satellite System
Abbreviation
Description
GPS
Global Positioning System
GRS
GNSS Range Residuals
GSA
GNSS DOP and Active Satellites
GST
GNSS Psuedorange Error Statistics
GSV
GNSS Satellites in View
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HDOP
Horizontal Dilution of Precision
HW
Hardware
ID
Identifier
MNL
MTK Navigation Lib
MSAS
Multi-functional Satellite Augmentation System
NMEA
NMEA (National Marine Electronics Association) 0183 Interface Standard
NVDM
Non-volatile Data Memory
NVRAM
Non-Volatile Random Access Memory
PAIR
Proprietary Protocol of MTK
PDOP
Position Dilution of Precision
PPS
Pulse Per Second
QZSS
Quasi-Zenith Satellite System
RAIM
Receiver Autonomous Integrity Monitoring
RMC
Recommended Minimum Specific GNSS Data
RMS
Root Mean Square
RLM
Return Link Message
RLS
Return Link Service
RTC
Real-time Clock
RTCM
Radio Technical Commission for Maritime Services
RTK
Real Time Kinematic
SBAS
Satellite-Based Augmentation System
SNR
Signal-to-noise Ratio
SOG
Speed over Ground
SPS
Standard Positioning Service
SV
Satellites in View
UART
Universal Asynchronous Receiver/Transmitter
ULP
Ultra-Low Power
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Abbreviation
Description
UTC
Coordinated Universal Time
VDOP
Vertical Dilution of Precision
VTG
Course Over Ground and Ground Speed
WAAS
Wide Area Augmentation System
ZDA
Time and Date
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## Page 78
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5
Appendix B - GNSS Satellites (NEMA) Numbering
Table 7: Terms and Abbreviations
GNSS Type
System ID
Satellite ID
Signal ID
GPS
1
1–32
1 = L1 C/A
GLONASS
2
65–88
1 = L1
Galileo
3
1–36
7 = E1
BDS
4
1-63
1 = B1I
3 = B1C
QZSS
5
193–199
SBAS
33-51
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## Page 79
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6
Appendix C – Special characters
Table 8: Special Characters
Special Character
Definition
<...>
Parameter name. Angle brackets do not appear in the message.
[...]
Optional field of a message. Square brackets do not appear in the message.
{…}
Repeated field of a message. Curly brackets do not appear in the message.
Underline
Default setting of a parameter.
E-mail : sales@reyax.com
Website : https://reyax.com
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