Ryan Malloy 5252d1d73c 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

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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'

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1 RYS352x 18-DEC-2023 56312E39 PAIR Command Guide

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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

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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

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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

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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

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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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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 $

() [,] \* Range for checksum calculation Field Description $ Start of the sentence (Hex 0x24). 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 fields, delimited by data field delimiter ‘,’. Variable length (depends on the NMEA message type). 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. 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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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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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 $. String, 2 characters GN Talker identifier. See Table 4: NMEA Talker ID RMC String, 3 characters RMC Recommended Minimum Specific GNSS Data. 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 Character A Positioning system status. A = Data valid V = Navigation receiver warning 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. $RMC,,,,<N/S>,,<E/W>,,,,, ,,* 9

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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. 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. Numeric Knot 0.01 Speed over ground. Variable length. Note that this field is empty in case of an invalid value. 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. ddmmyy 010522 Date. dd: Day of month mm: Month yy: Year Magnetic variation. Not supported. Direction of magnetic variation. Not supported. 10

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RYS352x PAIR Command Guide Copyright © 2023, REYAX TECHNOLOGY CO., LTD. Field Format Unit Example Description 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 Character V Navigational status indication. Note that this parameter is only available in messages in line with NMEA0183 V4.10 and later versions. Hexadecimal *0E Checksum. 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 $. String, 2 characters GN Talker identifier. See Table 4: NMEA Talker ID $GGA,,,<N/S>,,<E/W>,,,,,M, ,M,,* $GNRMC,040143.000,A,3149.334166,N,11706.941670,E,0.01,0.00,010522,,,D,V*0E 11

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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. 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 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. 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. 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 1) Numeric, 2 digits 36 Number of satellites in use. Numeric 0.48 Horizontal dilution of precision. Note that this field is empty in case of an invalid value. 12

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RYS352x PAIR Command Guide Copyright © 2023, REYAX TECHNOLOGY CO., LTD. Field Format Unit Example Description 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 . “M” = Meter. Differential GPS data age. Not supported. Differential reference station ID. Not supported. Hexadecimal *58 Checksum. Character Carriage return and line feed. Note:

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: $GSV,,,{,,,,},* $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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RYS352x PAIR Command Guide Copyright © 2023, REYAX TECHNOLOGY CO., LTD. Parameter: Field Format Unit Example Description $ Character

$ Each NMEA message starts with $. String, 2 characters GP Talker identifier. See Table 4: NMEA Talker ID GSV String, 3 characters GSV GNSS Satellites in view Numeric 3 Total number of sentences. Range: 1–9. Numeric 1 Sentence number. Range: 1–. Numeric 12 Total number of satellites in view. Start of repeat block. Repeat times: 1–4. Numeric 195 Satellite ID. See Table 8: GNSS Satellites (NEMA) Numbering. Numeric Degree 72 Satellite elevation. Range: 00–90. Numeric Degree 076 Satellite azimuth, with true north as the reference plane. Range: 000–359. Numeric dB-Hz 42 Satellite C/N0. Range 00–99. Null when not tracking. 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. Hexadecimal *58 Checksum. Character Carriage return and line feed. Note:

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 14

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RYS352x PAIR Command Guide Copyright © 2023, REYAX TECHNOLOGY CO., LTD. Message Structure: Example: Parameter: Field Format Unit Example Description $ Character

$ Each NMEA message starts with $. String, 2 characters GN Talker identifier. See Table 4: NMEA Talker ID GSA String, 3 characters GSA GNSS DOP and Active Satellites. 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 Numeric

3 Fix mode. 1 = Fix not available 2 = 2D 3 = 3D Start of repeat block. Repeat times: 12. 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. Numeric 0.71 Position dilution of precision. Maximum value: 99.00. Note that this field is empty in case of an invalid value. Numeric 0.48 Horizontal dilution of precision. Maximum value: 99.00. Note that this field is empty in case of an invalid value. Numeric 0.52 Vertical dilution of precision. Maximum value: 99.00. Note that this field is empty in case of an invalid value $GSA,,{,},,,* $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 15

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RYS352x PAIR Command Guide Copyright © 2023, REYAX TECHNOLOGY CO., LTD. Field Format Unit Example Description Numeric 0.48 Horizontal dilution of precision. Maximum value: 99.00. Note that this field is empty in case of an invalid value. Numeric 0.52 Vertical dilution of precision. Maximum value: 99.00. Note that this field is empty in case of an invalid value Numeric 1 GNSS system ID. See Table 8: GNSS Satellites (NEMA) Numbering Hexadecimal *34 Checksum Character Carriage return and line feed. Note:

If less than 12 satellites are used for navigation, the remaining 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 $. String, 2 characters GN Talker identifier. See Table 4: NMEA Talker ID VTG String, 3 characters GSA Course Over Ground & Ground Speed. Numeric Degrees 0.00 Course over ground, in true north course direction. Note that this field is empty in case of an invalid value. $VTG,,T,,M,,N,,K,* $GNVTG,0.00,T,,M,0.01,N,0.02,K,D*25 16

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RYS352x PAIR Command Guide Copyright © 2023, REYAX TECHNOLOGY CO., LTD. Field Format Unit Example Description T Character T Fixed field: true. Numeric Degrees M Course over ground (magnetic). Not supported. M Character Fixed field: magnetic. 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. 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. 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 Hexadecimal *25 Checksum 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: $GLL,,<N/S>,,<E/W>,,,* $GNGLL,3149.334166,N,11706.941670,E,040143.000,A,D*46 17

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RYS352x PAIR Command Guide Copyright © 2023, REYAX TECHNOLOGY CO., LTD. Parameter: Field Format Unit Example Description $ Character

$ Each NMEA message starts with $. String, 2 characters GN Talker identifier. See Table 4: NMEA Talker ID GLL String, 3 characters GLL Geographic Position – Latitude/Longitude. 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. 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 hhmmss.sss 040143.000 Position UTC. hh: Hours (00–23) mm: Minutes (00–59) ss: Seconds (00–59) sss: Decimal fraction of seconds Character A Positioning system status. A = Data valid V = Invalid data 18

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RYS352x PAIR Command Guide Copyright © 2023, REYAX TECHNOLOGY CO., LTD. Field Format Unit Example Description 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. Hexadecimal *46 Checksum 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 $. 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. $ZDA,,,,,,* $GNZDA,055054.000,19,09,2022,,*4A 19

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RYS352x PAIR Command Guide Copyright © 2023, REYAX TECHNOLOGY CO., LTD. Field Format Unit Example Description hhmmss.sss 055054.000 Position fix UTC. hh: Hours (00–23) mm: Minutes (00–59) ss: Seconds (00–59) sss: Decimal fraction of seconds Numeric 19 Day of month. Range: 01–31. Numeric 09 Month. Range: 01–12. Numeric 2022 Year. Numeric Local zone hours, 00 to ±13 hours. Not supported. Numeric Local zone minutes, 00 to +59 minutes. Not supported. Hexadecimal *4A Checksum 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 $. String, 2 characters Talker identifier. See Table 4: NMEA Talker ID GNS String, 3 characters GNS GNSS Fix Data. $GNS,,,<N/S>,,<E/W>,,,,, M,,M,,,* $GNGNS,053106.000,3149.334190,N,11706.948654,E,DANN,16,0.63,51.287,M,-0.335,M,,,V*05 20

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RYS352x PAIR Command Guide Copyright © 2023, REYAX TECHNOLOGY CO., LTD. Field Format Unit Example Description hhmmss.sss 053106.000 North-south direction. N = North S = South Note that this field is empty in case of an invalid value. 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. 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. 21

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RYS352x PAIR Command Guide Copyright © 2023, REYAX TECHNOLOGY CO., LTD. Field Format Unit Example Description Numeric 16 Total number of satellites in use. Range: 0–99. Numeric 0.63 Horizontal dilution of precision. Maximum value: 99.00. Note that this field is empty in case of an invalid value. 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 . “M” = Meter. 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 . “M” = Meter. Differential GPS data age. Not supported. Differential reference station ID. Not supported. Character V Navigational status indicator. Always “V” (Navigational status not valid). Hexadecimal *05 Checksum Character Carriage return and line feed. Note:

1. 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. . 22

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RYS352x PAIR Command Guide Copyright © 2023, REYAX TECHNOLOGY CO., LTD. 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 $. String, 2 characters GN Talker identifier. See Table 4: NMEA Talker ID GST String, 3 characters GST GNSS Psuedorange Error Statistics 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. Numeric Meter 2.5 Standard deviation of semi-major axis of error ellipse. Numeric Meter 2.4 Standard deviation of semi-minor axis of error ellipse. Numeric Degree s 88.4 Orientation of semi-major axis of error ellipse. < LatD> Numeric Meter 2.4 Standard deviation of latitude error. Numeric Meter 2.5 Standard deviation of longitude error. Numeric Meter 5.9 Standard deviation of altitude error. Hexadecimal *43 Checksum. Character Carriage return and line feed. $GST,,<RMS_D>,,,,,,* $GNGST,123624.000,6.3,2.5,2.4,88.4,2.4,2.5,9.2*43 23

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RYS352x PAIR Command Guide Copyright © 2023, REYAX TECHNOLOGY CO., LTD. 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 $. String, 2 characters GN Talker identifier. See Table 4: NMEA Talker ID GRS String, 3 characters GRS GNSS Range Residuals hhmmss.sss 125524.000 Position fix UTC. hh: Hours (00–23) mm: Minutes (00–59) ss: Seconds (00–59) sss: Decimal fraction of seconds 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. $GRS,,{,},,* $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 24

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RYS352x PAIR Command Guide Copyright © 2023, REYAX TECHNOLOGY CO., LTD. Field Format Unit Example Description 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. 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. Hexadecimal *42 Checksum. 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 $. String, 2 characters GN Talker identifier. See Table 4: NMEA Talker ID RLM String, 3 characters RLM Return Link Message Hexadecimal 9A22BE296 30F010 Beacon of RLM. Beacon ID 15 hex characters (60 bits). hhmmss.sss 055054.000 Position fix UTC. hh: Hours (00–23) mm: Minutes (00–59) ss: Seconds (00–59) sss: Decimal fraction of seconds $RLM,,,<Meg_Code>,* $GARLM,9A22BE29630F010,125713.000,F,5402*3B 25

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RYS352x PAIR Command Guide Copyright © 2023, REYAX TECHNOLOGY CO., LTD. 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) 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). Hexadecimal *3B Checksum. Character Carriage return and line feed. 26

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RYS352x PAIR Command Guide Copyright © 2023, REYAX TECHNOLOGY CO., LTD. 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 Numeric

Type of command/packet to be acknowledged. 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,,* $PAIR002* $PAIR002*38 $PAIR001,002,1*38 $PAIR001,002,0*39 27

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RYS352x PAIR Command Guide Copyright © 2023, REYAX TECHNOLOGY CO., LTD. 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* $PAIR003*39 $PAIR001,003,1*39 $PAIR001,003,0*38 28

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RYS352x 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* $PAIR004*3E $PAIR001,004,1*3E $PAIR001,004,0*3F $PAIR005* $PAIR005*3F $PAIR001,005,1*3F $PAIR001,005,0*3E 29

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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* $PAIR006*3C $PAIR001,006,1*3C $PAIR001,006,0*3D $PAIR007* $PAIR007*3D $PAIR001,007,1*3D $PAIR001,007,0*3C 30

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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 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 Numeric Week Week number (including roll-over) 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,,<GNSS_System>,,* $PAIR010,0,0,2044,369413*33 $PAIR050,* 31

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RYS352x PAIR Command Guide Copyright © 2023, REYAX TECHNOLOGY CO., LTD. Example: Parameter: Field Format Unit Description 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 Numeric Millisecond Position fix interval. Range: 100–1000. Default value: 1000. $PAIR050,1000*12 $PAIR001,050,0*3E $PAIR051* $PAIR051*3E $PAIR001,051,0*3F $PAIR051,1000*13 $PAIR051,* 32

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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 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>* $PAIR058,15*1F $PAIR001,058,0*36 $PAIR062,,* $PAIR062,0,3*3D $PAIR001,062,0*3F 33

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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 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* $PAIR059*36 $PAIR001,059,0*37 $PAIR059,9*23 $PAIR059,<MIN_SNR>* 34

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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 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,* $PAIR063,0*23 $PAIR001,063,0*3E $PAIR063,0,3*3C $PAIR063,,* 35

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RYS352x PAIR Command Guide Copyright © 2023, REYAX TECHNOLOGY CO., LTD. 5 = NMEA_SEN_VTG 6 = NMEA_SEN_ZDA 7 = NMEA_SEN_GRS 8 = NMEA_SEN_GST 9 = NMEA_SEN_GNS 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 Numeric Always "0" Result: Returns $PAIR001 message and the query result. $PAIR066,<GPS_Enabled>,<GLONASS_Enabled>,<Galileo_Enabled>,<BDS_Enabled>,<QZSS_Enab ed>,* //Search for GPS + GLONASS + Galileo + BDS satellites: $PAIR066,1,1,1,1,0,0*3A $PAIR001,066,0*3B 36

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QZSS is always enabled by default.
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* $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>,*, 37

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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 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 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,* $PAIR070,4*25 $PAIR001,070,0*3C $PAIR071* 38

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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,* $PAIR072,* $PAIR072,5*26 $PAIR001,072,0*3E 39

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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* $PAIR073*3E $PAIR001,073,0*3F $PAIR073,5*27 $PAIR073,* $PAIR074,* 40

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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 Numeric Status of active AIC function. 0 = Disabled 1 = Enabled $PAIR074,1*24 $PAIR001,074,0*38 $ PAIR075* $PAIR075*38 $PAIR001,075,0*39 $PAIR075,1*25 $PAIR075,* 41 40

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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,* 1 Send: 2 $PAIR080,1*2F\r\n ==> Enter fitness mode. 3 Response: 4 $PAIR001,080,0*33\r\n ==> Success 42

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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* $PAIR074,1*24 $PAIR001,074,0*38 $PAIR081,* 43

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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,* $PAIR086,1*29 $PAIR001,086,0*35 44

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RYS352x PAIR Command Guide Copyright © 2023, REYAX TECHNOLOGY CO., LTD. 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* $PAIR087*35 $PAIR001,087,0*34 $PAIR087,0*29 $PAIR087,* $PAIR154,* $PAIR154,1*27 $PAIR001,154,0*3B 45

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RYS352x PAIR Command Guide Copyright © 2023, REYAX TECHNOLOGY CO., LTD. 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* $PAIR155*3B $PAIR001,155,0*3A $PAIR155,1*26 $PAIR155,* 46

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RYS352x PAIR Command Guide Copyright © 2023, REYAX TECHNOLOGY CO., LTD. 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,* $PAIR158,1*2B $PAIR001,158,0*37 $PAIR382,* $PAIR382,1*2E $PAIR001,382,0*32 47

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RYS352x PAIR Command Guide Copyright © 2023, REYAX TECHNOLOGY CO., LTD. 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

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.
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,* $PAIR400,2*20 $PAIR001,400,0*3F $PAIR401* 48

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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 < 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,* $PAIR410,* $PAIR410,1*22 $PAIR001,410,0*3E 49

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RYS352x PAIR Command Guide Copyright © 2023, REYAX TECHNOLOGY CO., LTD. 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* $PAIR411*3E $PAIR001,411,0*3F $PAIR411,1*23 $PAIR411,* 50

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RYS352x PAIR Command Guide Copyright © 2023, REYAX TECHNOLOGY CO., LTD. 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 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,* $PAIR432,1*22 $PAIR001,432,0*3E $PAIR433* $PAIR433*3E $PAIR001,433,0*3F $PAIR433,-1*0E 51

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RYS352x PAIR Command Guide Copyright © 2023, REYAX TECHNOLOGY CO., LTD. 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 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,* $PAIR434,* $PQTM434,1*36 $PAIR001,432,0*3E 52

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RYS352x PAIR Command Guide Copyright © 2023, REYAX TECHNOLOGY CO., LTD. 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 Numeric Enable/disable outputting satellite ephemeris. 0 = Disable 1 = Enable $PAIR435* $PAIR435*38 $PAIR001,435,0*39 $PAIR435,0*24 $PAIR435,* $PAIR436,* $PQTM436,1*34 $PAIR001,436,0*3A 53

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RYS352x PAIR Command Guide Copyright © 2023, REYAX TECHNOLOGY CO., LTD. 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* $PAIR437*3A $PAIR001,437,0*3B $PAIR437,1*27 $PAIR437,* $PAIR490,* 54

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RYS352x PAIR Command Guide Copyright © 2023, REYAX TECHNOLOGY CO., LTD. Example: Parameter: Field Format Unit Description 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* $ //If is set to enable: $PAIR491*36 $PAIR001,491,0*37 $PAIR491,1,0*37 //If is set to disable: $PAIR491*36 $PAIR001,491,0*37 $PAIR491,0*2A $PAIR491,,* 55

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RYS352x PAIR Command Guide Copyright © 2023, REYAX TECHNOLOGY CO., LTD. Parameter included in the result: Field Format Unit Description Numeric EASY function setting. 0 = Disable 1 = Enable Numeric EASY data extension status. 0 = Not finished 1 = 1-day extension finished 2 = 2-day extension finished 3 = 3-day extension finished If is set to 0, 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* $PAIR511*3F $PAIR001,511,1*3F $PAIR001,511,0*3E: $PAIR491,,* 56

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RYS352x PAIR Command Guide Copyright © 2023, REYAX TECHNOLOGY CO., LTD. 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* $PAIR513*3D $PAIR001,513,0*3C $PAIR650,* $PAIR650,1*24 $PAIR001,650,4*3C 57

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RYS352x PAIR Command Guide Copyright © 2023, REYAX TECHNOLOGY CO., LTD. Parameter: Field Format Unit Description 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 Numeric Enable/disable GLP mode. 0 = Disable 1 = Enable Result: Returns $PAIR001 message. *Note: 1. Requirements for entering GLP mode

Fix rate is 1 Hz.
Satellite constellation configuration is GPS only.
Navigation mode is fitness mode.

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,* $PAIR680,1*29 $PAIR001,680,0*35 58

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RYS352x PAIR Command Guide Copyright © 2023, REYAX TECHNOLOGY CO., LTD. 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 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* $PAIR681*35 $PAIR001,681,0*34 $PAIR681,1*28 $PAIR681,* $PAIR690,,,,,* $PAIR690,1,21,39,48,72*28 $PAIR001,690,0*34 59

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RYS352x PAIR Command Guide Copyright © 2023, REYAX TECHNOLOGY CO., LTD. Parameter: Field Format Unit Description Numeric State of Periodic Power Saving mode. 0 = Disabled 1 = Smart periodic mode enabled 2 = Strict periodic mode enabled Numeric Second Run time. Range: 3–518400. Numeric Second Sleep time. Range: 3–518400. Numeric Second Second run time. Range: 0 or 3–518400. Numeric Second Second sleep time. Range: 0 or 3–518400. Result: Returns a $PAIR001 message. *Note: 1. : Interval in seconds after exiting Sleep mode and getting a new position fix. 2. : Duration of Sleep mode after getting a fix (or attempting to get a fix). 3. : 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. : 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* $PAIR691*34 $PAIR001,691,1*34 $PAIR001,691,0*35 $PAIR691,0,3,12,18,72*14 60

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RYS352x PAIR Command Guide Copyright © 2023, REYAX TECHNOLOGY CO., LTD. Query result message format: Parameter included in the result: Field Format Unit Description Numeric State of Periodic Power Saving mode. 0 = Disabled 1 = Smart periodic mode enabled 2 = Strict periodic mode enabled Numeric Second Run time. Range: 3–518400. Numeric Second Sleep time. Range: 3–518400. Numeric Second Second run time. Range: 0 or 3–518400. 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 Numeric Enable/disable FLP mode setting. 0 = Disable 1 = Enable Result: Returns a $PAIR001 message. $PAIR691,,,,,* $PAIR730,* $PAIR730,1*23 $PAIR001,730,0*3F 61

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RYS352x PAIR Command Guide Copyright © 2023, REYAX TECHNOLOGY CO., LTD. *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 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* $PAIR731*3F $PAIR001,731,0*3E $PAIR731,1*22 $PAIR731,* $PAIR732,* 62

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RYS352x PAIR Command Guide Copyright © 2023, REYAX TECHNOLOGY CO., LTD. Example: Parameter: Field Format Unit Description 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* $PAIR733*3D $PAIR001,733,0*3C $PAIR733,1*20 $PAIR733,* 63

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RYS352x PAIR Command Guide Copyright © 2023, REYAX TECHNOLOGY CO., LTD. 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 Numeric PPS pulse type. 0 = Disable 1 = After the first fix 2 = 3D fix only 3 = 2D/3D fix only 4 = Always 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,,* $PAIR752,2,100*39 $PAIR001,752,0*3B $PAIR900,* $PAIR900,1*2E $PAIR001,900,0*32 64

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RYS352x PAIR Command Guide Copyright © 2023, REYAX TECHNOLOGY CO., LTD. Parameter: Field Format Unit Description 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 Numeric LOCUS setting: 0 = Disable 1 = Enable 2.3.57. Packet Type: 902 PAIR_LOCUS_SET_MODE Message $PAIR902 $PAIR901* $PAIR901*32 $PAIR001,901,0*33 $PAIR901,0*2E $PAIR901,* 65

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RYS352x PAIR Command Guide Copyright © 2023, REYAX TECHNOLOGY CO., LTD. Description Sets LOCUS saving mode. Type Set Message Structure: Example: Parameter: Field Format Unit Description 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,,<Check_3D_Fix>* //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 66

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RYS352x PAIR Command Guide Copyright © 2023, REYAX TECHNOLOGY CO., LTD. 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 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* $PAIR903*30 $PAIR001,903,0*31 $PAIR903,6,1*37 $PAIR903,,<Check_3D_Fix>* 67

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RYS352x PAIR Command Guide Copyright © 2023, REYAX TECHNOLOGY CO., LTD. <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 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 = 0, it indicates time threshold. Range: 1-43200. Unit: second. When = 1, it indicates speed threshold. Range: 1-100. Unit: m/s. When = 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,,* $PAIR904,1,5*33 $PAIR001,904,0*36 68

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RYS352x PAIR Command Guide Copyright © 2023, REYAX TECHNOLOGY CO., LTD. 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 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 Numeric Meter second m/s When = 0, it indicates time threshold. Range:1-43200. Unit: second. When = 1, it indicates speed threshold. Range:1-100. Unit: m/s. When = 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* $PAIR905,0*2A $PAIR001,905,0*37 $PAIR905,15*1E $PAIR905,* 69

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RYS352x PAIR Command Guide Copyright © 2023, REYAX TECHNOLOGY CO., LTD. Message Structure: Example: Parameter: Field Format Unit Description 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 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,* $PAIR906,0*29 $PAIR001,906,0*34 $PAIR907* $PAIR907*34 $PAIR001,907,0*35 70

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RYS352x PAIR Command Guide Copyright © 2023, REYAX TECHNOLOGY CO., LTD. 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 Numeric Response type: 0 = Response in NMEA format 1 = Response in PAIR format Result: Returns $PAIR001 message. Query result message format: $PAIR908,* //If = 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 = 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 71

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Start reading LOCUS data
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.
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. Hexadecimal Degree User latitude in WGS84. 4 bytes in LOCUS data. Hexadecimal Degree User longitude in WGS84. 4 bytes in LOCUS data. Hexadecimal Meter User altitude above mean sea level. 2 bytes in LOCUS data. Hexadecimal m/s User ground speed (2-D). 2 bytes in LOCUS data. Hexadecimal Degree User heading of motion. 2 bytes in LOCUS data. Hexadecimal Horizontal (2-D) dilution of precision. 2 bytes in LOCUS data. Hexadecimal Number of satellites used in navigation solution. 2 bytes in LOCUS data.
LOCUS data read ends. *Note:

Make sure to execute $PAIR900,1*2E before executing $PAIR908. $PAIR908,0* $PAIR908,1,<Record_Num>,<Record_Size>* $PAIR908,2,,<Fix_Type>,,,,,,,* $PAIR908,0* 72

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RYS3520 PAIR Command Guide Copyright © 2023, REYAX TECHNOLOGY CO., LTD. 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* $PAIR909*3A $PAIR001,909,0*3B $PAIR909,5699*15 $PAIR909,<Record_Num>* 73

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RYS3520 PAIR Command Guide Copyright © 2023, REYAX TECHNOLOGY CO., LTD. 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. 74

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RYS3520 PAIR Command Guide Copyright © 2023, REYAX TECHNOLOGY CO., LTD. 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 75

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RYS3520 PAIR Command Guide Copyright © 2023, REYAX TECHNOLOGY CO., LTD. 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 76

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RYS3520 PAIR Command Guide Copyright © 2023, REYAX TECHNOLOGY CO., LTD. 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 77

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RYS3520 PAIR Command Guide Copyright © 2023, REYAX TECHNOLOGY CO., LTD. 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 78

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RYS3520 PAIR Command Guide Copyright © 2023, REYAX TECHNOLOGY CO., LTD. 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 79

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RYS352x PAIR Command Guide Copyright © 2023, REYAX TECHNOLOGY CO., LTD. Parameter: Field Format Unit Example Description $ Character

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RYS352x PAIR Command Guide Copyright © 2023, REYAX TECHNOLOGY CO., LTD. Message Structure: Example: Parameter: Field Format Unit Example Description $ Character

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RYS352x PAIR Command Guide Copyright © 2023, REYAX TECHNOLOGY CO., LTD. Parameter: Field Format Unit Example Description $ Character

$ Each NMEA message starts with $. String, 2 characters GN Talker identifier. See Table 4: NMEA Talker ID GLL String, 3 characters GLL Geographic Position – Latitude/Longitude. ddmm.mmmmmm

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