Novatel OEM6® User guide

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OEM6
®
Family
Firmware Reference Manual
OM-20000129 Rev 11 March 2017
OEM6 Firmware Reference Manual Rev 11 2
OEM6 Family of Receivers - Firmware Reference Manual
Publication Number: OM-20000129
Revision Level: 11
Revision Date: March 2017
This manual reflects firmware version 6.720 / OEM060720RN0000
Proprietary Notice
Information in this document is subject to change without notice and does not represent a commitment on the
part of NovAtel Inc. The information contained within this manual is believed to be true and correct at the time
of publication.
OEM6, ALIGN and NovAtel are registered trademarks of NovAtel Inc.
OEM615, OEM617, OEM617D, OEM628, OEM638, FlexPak6, FlexPak6D, NovAtel CORRECT and GLIDE
are trademarks of NovAtel Inc.
All other brand names are trademarks of their respective holders.
© Copyright 2017 NovAtel Inc. All rights reserved. Unpublished rights reserved under International copyright
laws.
OEM6 Firmware Reference Manual Rev 11 3
Table of Contents
Customer Support............................................................................................................. 16
NovAtel Knowledge Base ...........................................................................................................................16
Before Contacting Customer Support.........................................................................................................16
Contact Information ....................................................................................................................................16
Foreword............................................................................................................................ 17
Related Documents and Information .......................................................................................................... 17
Conventions................................................................................................................................................17
Logs and Commands Defaults and Structure.............................................................................................18
Prerequisites...............................................................................................................................................18
1 Messages .......................................................................................................................19
1.1 Message Types ..................................................................................................................................19
1.1.1 ASCII .......................................................................................................................................20
1.1.2 Abbreviated ASCII...................................................................................................................22
1.1.3 Binary ......................................................................................................................................22
1.2 Responses .........................................................................................................................................29
1.2.1 Abbreviated Response ............................................................................................................29
1.2.2 ASCII Response......................................................................................................................29
1.2.3 Binary Response .....................................................................................................................29
1.3 GLONASS Slot and Frequency Numbers ..........................................................................................31
1.4 GPS Reference Time Status ..............................................................................................................32
1.5 Message Time Stamps.......................................................................................................................33
1.6 Decoding of the GPS Reference Week Number ................................................................................33
1.7 32-Bit CRC .........................................................................................................................................34
2 Commands..................................................................................................................... 36
2.1 Command Formats.............................................................................................................................36
2.2 Command Settings.............................................................................................................................36
2.3 Factory Defaults .................................................................................................................................37
2.4 Command Reference .........................................................................................................................37
2.4.1 ADJUST1PPS .........................................................................................................................58
2.4.2 AIRPLANEMODE ....................................................................................................................63
2.4.3 ALIGNAUTOMATION..............................................................................................................64
2.4.4 ANTENNAPOWER..................................................................................................................65
2.4.5 APPLICATION......................................................................................................................... 66
2.4.6 ASSIGN................................................................................................................................... 67
2.4.7 ASSIGNALL.............................................................................................................................70
2.4.8 ASSIGNLBAND.......................................................................................................................72
2.4.9 ASSIGNLBAND2.....................................................................................................................74
2.4.10 ASSIGNLBANDBEAM...........................................................................................................75
2.4.11 AUTH.....................................................................................................................................77
2.4.12 AUTOSURVEY......................................................................................................................79
2.4.13 BASEANTENNAMODEL .......................................................................................................81
2.4.14 BASEANTENNAPCO ............................................................................................................83
2.4.15 BASEANTENNAPCV ............................................................................................................85
2.4.16 BASEANTENNATYPE ..........................................................................................................
86
2.4.17 BDSECUTOFF ......................................................................................................................95
2.4.18 BESTVELTYPE.....................................................................................................................96
2.4.19 BLUETOOTHCONFIG...........................................................................................................97
2.4.20 BLUETOOTHDISCOVERABILITY ........................................................................................98
2.4.21 CELLULARCONFIG ..............................................................................................................99
OEM6 Firmware Reference Manual Rev 11 4
2.4.22 CLOCKADJUST ..................................................................................................................101
2.4.23 CLOCKCALIBRATE ............................................................................................................102
2.4.24 CLOCKOFFSET ..................................................................................................................104
2.4.25 CNOUPDATE ......................................................................................................................105
2.4.26 COM ....................................................................................................................................106
2.4.27 COMCONFIG ......................................................................................................................108
2.4.28 COMCONTROL...................................................................................................................109
2.4.29 COMVOUT ..........................................................................................................................111
2.4.30 DATADECODESIGNAL ......................................................................................................112
2.4.31 DATUM................................................................................................................................115
2.4.32 DGPSEPHEMDELAY..........................................................................................................120
2.4.33 DGPSTXID ..........................................................................................................................121
2.4.34 DHCPCONFIG ....................................................................................................................122
2.4.35 DIFFCODEBIASCONTROL ................................................................................................123
2.4.36 DLLTIMECONST.................................................................................................................124
2.4.37 DNSCONFIG .......................................................................................................................127
2.4.38 DOSCMD.............................................................................................................................128
2.4.39 DUALANTENNAALIGN .......................................................................................................130
2.4.40 DUALANTENNAPOWER ....................................................................................................131
2.4.41 DYNAMICS..........................................................................................................................132
2.4.42 ECHO ..................................................................................................................................134
2.4.43 ECUTOFF............................................................................................................................136
2.4.44 ELEVATIONCUTOFF..........................................................................................................138
2.4.45 ETHCONFIG .......................................................................................................................140
2.4.46 EVENTINCONTROL ...........................................................................................................141
2.4.47 EVENTOUTCONTROL .......................................................................................................143
2.4.48 EXTERNALCLOCK .............................................................................................................145
2.4.49 FIX .......................................................................................................................................148
2.4.50 FIXPOSDATUM...................................................................................................................151
2.4.51 FORCEGLOL2CODE ..........................................................................................................152
2.4.52 FORCEGPSL2CODE ..........................................................................................................153
2.4.53 FREQUENCYOUT ..............................................................................................................155
2.4.54 FRESET ..............................................................................................................................157
2.4.55 GALECUTOFF ....................................................................................................................159
2.4.56 GENERATEALIGNCORRECTIONS ...................................................................................160
2.4.57 GENERATEDIFFCORRECTIONS ......................................................................................161
2.4.58 GENERATERTKCORRECTIONS .......................................................................................162
2.4.59 GGAQUALITY .....................................................................................................................164
2.4.60 GLIDEINITIALIZATIONPERIOD..........................................................................................166
2.4.61 GLOECUTOFF ....................................................................................................................167
2.4.62 HDTOUTTHRESHOLD .......................................................................................................168
2.4.63 HEADINGOFFSET ..............................................................................................................169
2.4.64 HPSEED...................................................................................................................
...........170
2.4.65 HPSTATICINIT ....................................................................................................................173
2.4.66 ICOMCONFIG .....................................................................................................................174
2.4.67 INTERFACEMODE .............................................................................................................176
2.4.68 IOCONFIG...........................................................................................................................180
2.4.69 IONOCONDITION ...............................................................................................................182
2.4.70 IPCONFIG ...........................................................................................................................183
2.4.71 IPSERVICE .........................................................................................................................184
2.4.72 LEDCONFIG........................................................................................................................185
2.4.73 LOCALIZEDCORRECTIONDATUM....................................................................................190
2.4.74 LOCKOUT ...........................................................................................................................191
2.4.75 LOCKOUTSYSTEM ............................................................................................................192
2.4.76 LOG .....................................................................................................................................193
OEM6 Firmware Reference Manual Rev 11 5
2.4.77 LOGFILE .............................................................................................................................198
2.4.78 LOGIN .................................................................................................................................200
2.4.79 LOGOUT .............................................................................................................................201
2.4.80 MAGVAR .............................................................................................................................202
2.4.81 MARKCONTROL.................................................................................................................204
2.4.82 MODEL................................................................................................................................206
2.4.83 MOVINGBASESTATION.....................................................................................................207
2.4.84 NMEATALKER ....................................................................................................................209
2.4.85 NMEAVERSION ..................................................................................................................211
2.4.86 NTRIPCONFIG....................................................................................................................212
2.4.87 NTRIPSOURCETABLE .......................................................................................................214
2.4.88 NVMRESTORE ...................................................................................................................215
2.4.89 OMNIUSEGLONASS ..........................................................................................................216
2.4.90 PDPFILTER.........................................................................................................................217
2.4.91 PDPMODE ..........................................................................................................................218
2.4.92 PDPVELOCITYOUT............................................................................................................219
2.4.93 POSAVE..............................................................................................................................220
2.4.94 POSTIMEOUT.....................................................................................................................221
2.4.95 PPPCONVERGEDCRITERIA .............................................................................................222
2.4.96 PPPDYNAMICS ..................................................................................................................223
2.4.97 PPPSEED............................................................................................................................224
2.4.98 PPPSOURCE......................................................................................................................226
2.4.99 PPPTIMEOUT .....................................................................................................................227
2.4.100 PPSCONTROL..................................................................................................................228
2.4.101 PPSCONTROL2.............................................................................................................
...230
2.4.102 PROFILE ...........................................................................................................................232
2.4.103 PSRDIFFSOURCE............................................................................................................234
2.4.104 PSRDIFFSOURCETIMEOUT............................................................................................237
2.4.105 PSRDIFFTIMEOUT ...........................................................................................................238
2.4.106 QZSSECUTOFF................................................................................................................239
2.4.107 RAIMMODE.......................................................................................................................240
2.4.108 REFERENCESTATIONTIMEOUT.....................................................................................242
2.4.109 RESET...............................................................................................................................243
2.4.110 RTKANTENNA ..................................................................................................................244
2.4.111 RTKASSIST.......................................................................................................................246
2.4.112 RTKASSISTTIMEOUT ......................................................................................................247
2.4.113 RTKCOMMAND ................................................................................................................248
2.4.114 RTKDYNAMICS ................................................................................................................249
2.4.115 RTKELEVMASK ................................................................................................................250
2.4.116 RTKINTEGERCRITERIA...................................................................................................251
2.4.117 RTKMATCHEDTIMEOUT .................................................................................................252
2.4.118 RTKNETWORK .................................................................................................................253
2.4.119 RTKQUALITYLEVEL.........................................................................................................255
2.4.120 RTKSOURCE ....................................................................................................................256
2.4.121 RTKSOURCETIMEOUT....................................................................................................258
2.4.122 RTKSVENTRIES ...............................................................................................................259
2.4.123 RTKTIMEOUT ...................................................................................................................260
2.4.124 SAVECONFIG ...................................................................................................................261
2.4.125 SAVEETHERNETDATA ....................................................................................................262
2.4.126 SBASCONTROL ...............................................................................................................263
2.4.127 SBASECUTOFF................................................................................................................265
2.4.128 SBASTIMEOUT.................................................................................................................266
2.4.129 SELECTCHANCONFIG ....................................................................................................267
2.4.130 SEND.................................................................................................................................269
2.4.131 SENDHEX .........................................................................................................................271
OEM6 Firmware Reference Manual Rev 11 6
2.4.132 SERIALCONFIG................................................................................................................272
2.4.133 SERIALPROTOCOL..........................................................................................................275
2.4.134 SETADMINPASSWORD ...................................................................................................276
2.4.135 SETAPPROXPOS.............................................................................................................277
2.4.136 SETAPPROXTIME ............................................................................................................278
2.4.137 SETBASERECEIVERTYPE ..............................................................................................279
2.4.138 SETBESTPOSCRITERIA..................................................................................................280
2.4.139 SETCANNAME..................................................................................................................281
2.4.140 SETDIFFCODEBIASES ....................................................................................................282
2.4.141 SETFILECOPYMODE .......................................................................................................283
2.4.142 SETIONOTYPE .................................................................................................................284
2.4.143 SETNAV ............................................................................................................................285
2.4.144 SETPREFERREDNETIF ...................................................................................................287
2.4.145 SETROVERID ...................................................................................................................289
2.4.146 SETRTCM16 .....................................................................................................................290
2.4.147 SETRTCM36 .....................................................................................................................291
2.4.148 SETRTCMRXVERSION ....................................................................................................293
2.4.149 SETRTCMTXVERSION ....................................................................................................294
2.4.150 SETTIMEBASE .................................................................................................................295
2.4.151 SETTROPOMODEL..........................................................................................................297
2.4.152 SETUTCLEAPSECONDS .................................................................................................298
2.4.153 SOFTLOADCOMMIT.........................................................................................................299
2.4.154 SOFTLOADDATA..............................................................................................................300
2.4.155 SOFTLOADFILE................................................................................................................301
2.4.156 SOFTLOADRESET ...........................................................................................................302
2.4.157 SOFTLOADSETUP ...........................................................................................................303
2.4.158 SOFTLOADSREC .............................................................................................................305
2.4.159 SOFTPOWER ...................................................................................................................306
2.4.160 STATUSCONFIG ..............................................................................................................307
2.4.161 STEADYLINE ....................................................................................................................309
2.4.162 STEADYLINEDIFFERENTIALTIMEOUT ..........................................................................311
2.4.163 THISANTENNAPCO .........................................................................................................312
2.4.164 THISANTENNAPCV..........................................................................................................313
2.4.165 THISANTENNATYPE........................................................................................................314
2.4.166 TRACKSV..........................................................................................................................315
2.4.167 TUNNELESCAPE..............................................................................................................317
2.4.168 UALCONTROL..................................................................................................................319
2.4.169 UNASSIGN........................................................................................................................321
2.4.170 UNASSIGNALL .................................................................................................................322
2.4.171 UNDULATION ...................................................................................................................323
2.4.172 UNLOCKOUT....................................................................................................................325
2.4.173 UNLOCKOUTALL..............................................................................................................326
2.4.174 UNLOCKOUTSYSTEM .....................................................................................................327
2.4.175 UNLOG..............................................................................................................................328
2.4.176 UNLOGALL .......................................................................................................................330
2.4.177 USERDATUM....................................................................................................................331
2.4.178 USEREXPDATUM.............................................................................................................333
2.4.179 UTMZONE.........................................................................................................................335
2.4.180 WIFIAPCONFIG ................................................................................................................337
2.4.181 WIFICLICONFIG ...............................................................................................................340
2.4.182 WIFICLICONTROL............................................................................................................342
2.4.183 WIFICONFIG .....................................................................................................................344
3 Data Logs..................................................................................................................... 346
3.1 Log Types ........................................................................................................................................346
OEM6 Firmware Reference Manual Rev 11 7
3.1.1 Log Type Examples...............................................................................................................347
3.2 Log Reference..................................................................................................................................348
3.2.1 ALIGNBSLNENU...................................................................................................................374
3.2.2 ALIGNBSLNXYZ ...................................................................................................................376
3.2.3 ALIGNDOP ............................................................................................................................378
3.2.4 ALMANAC .............................................................................................................................379
3.2.5 APPLICATIONSTATUS.........................................................................................................381
3.2.6 AUTHCODES ........................................................................................................................382
3.2.7 AVEPOS................................................................................................................................384
3.2.8 BDSALMANAC......................................................................................................................386
3.2.9 BDSCLOCK...........................................................................................................................388
3.2.10 BDSEPHEMERIS ................................................................................................................389
3.2.11 BDSIONO ............................................................................................................................391
3.2.12 BDSRAWNAVSUBFRAME .................................................................................................392
3.2.13 BESTPOS............................................................................................................................393
3.2.14 BESTSATS..........................................................................................................................399
3.2.15 BESTUTM ...........................................................................................................................402
3.2.16 BESTVEL ............................................................................................................................404
3.2.17 BESTXYZ ............................................................................................................................406
3.2.18 BLUETOOTHSTATUS ........................................................................................................40
9
3.2.19 BSLNXYZ ............................................................................................................................411
3.2.20 CELLULARINFO .................................................................................................................413
3.2.21 CELLULARSTATUS............................................................................................................414
3.2.22 CHANCONFIGLIST.............................................................................................................416
3.2.23 CLOCKMODEL ...................................................................................................................419
3.2.24 CLOCKSTEERING..............................................................................................................421
3.2.25 CMR Standard Logs ............................................................................................................423
3.2.26 COMCONFIG ......................................................................................................................426
3.2.27 DIRENT ...............................................................................................................................427
3.2.28 ETHSTATUS .......................................................................................................................428
3.2.29 GALALMANAC ....................................................................................................................429
3.2.30 GALCLOCK .........................................................................................................................431
3.2.31 GALEPHEMERIS ................................................................................................................432
3.2.32 GALFNAVEPHEMERIS.......................................................................................................435
3.2.33 GALFNAVRAWPAGE .........................................................................................................437
3.2.34 GALINAVEPHEMERIS........................................................................................................438
3.2.35 GALINAVRAWWORD .........................................................................................................440
3.2.36 GALIONO ............................................................................................................................441
3.2.37 GLMLA ................................................................................................................................442
3.2.38 GLOALMANAC....................................................................................................................444
3.2.39 GLOCLOCK.........................................................................................................................446
3.2.40 GLOEPHEMERIS................................................................................................................448
3.2.41 GLORAWALM .....................................................................................................................451
3.2.42 GLORAWEPHEM................................................................................................................453
3.2.43 GLORAWFRAME ................................................................................................................454
3.2.44 GLORAWSTRING ...............................................................................................................456
3.2.45 GPALM ................................................................................................................................457
3.2.46 GPGGA ...............................................................................................................................459
3.2.47 GPGGALONG .....................................................................................................................462
3.2.48 GPGGARTK ........................................................................................................................464
3.2.49 GPGLL.................................................................................................................................466
3.2.50 GPGRS................................................................................................................................468
3.2.51 GPGSA................................................................................................................................470
3.2.52 GPGST ................................................................................................................................472
3.2.53 GPGSV................................................................................................................................474
OEM6 Firmware Reference Manual Rev 11 8
3.2.54 GPHDT ................................................................................................................................476
3.2.55 GPRMB ...............................................................................................................................477
3.2.56 GPRMC ...............................................................................................................................479
3.2.57 GPSEPHEM ........................................................................................................................481
3.2.58 GPVTG ................................................................................................................................484
3.2.59 GPZDA ................................................................................................................................485
3.2.60 HEADING ............................................................................................................................486
3.2.61 HEADING2 ..........................................................................................................................488
3.2.62 HEADINGRATE...................................................................................................................490
3.2.63 HEADINGSATS...................................................................................................................492
3.2.64 HWMONITOR......................................................................................................................494
3.2.65 IONUTC...............................................................................................................................497
3.2.66 IPSTATS..............................................................................................................................499
3.2.67 IPSTATUS ...........................................................................................................................500
3.2.68 LBANDBEAMTABLE ...........................................................................................................502
3.2.69 LBANDINFO ........................................................................................................................503
3.2.70 LBANDSTAT .......................................................................................................................505
3.2.71 LBANDTRACKSTAT ...........................................................................................................509
3.2.72 LOGFILESTATUS ...............................................................................................................511
3.2.73 LOGLIST .............................................................................................................................512
3.2.74 MARK1COUNT, MARK2COUNT, MARK3COUNT and MARK4COUNT............................514
3.2.75 MARKPOS, MARK2POS, MARK3POS and MARK4POS...................................................515
3.2.76 MARKTIME, MARK2TIME, MARK3TIME and MARK4TIME...............................................518
3.2.77 MASTERPOS......................................................................................................................520
3.2.78 MATCHEDPOS ...................................................................................................................522
3.2.79 MATCHEDSATS .................................................................................................................524
3.2.80 MATCHEDXYZ....................................................................................................................525
3.2.81 MODELFEATURES.............................................................................................................527
3.2.82 NAVIGATE ..........................................................................................................................530
3.2.83 NMEA Standard Logs..........................................................................................................533
3.2.84 NOVATELXOBS..................................................................................................................535
3.2.85 NOVATELXREF ..................................................................................................................536
3.2.86 OMNIHPPOS.......................................................................................................................537
3.2.87 OMNIHPSATS.....................................................................................................................539
3.2.88 OMNIVIS .............................................................................................................................540
3.2.89 PASSCOM, PASSXCOM, PASSAUX, PASSUSB, PASSETH1, PASSICOM, PASSNCOM542
3.2.90 PASSTHROUGH.................................................................................................................546
3.2.91 PDPPOS...................................................................................................................
...........547
3.2.92 PDPSATS............................................................................................................................549
3.2.93 PDPVEL ..............................................................................................................................550
3.2.94 PDPXYZ ..............................................................................................................................551
3.2.95 PORTSTATS .......................................................................................................................553
3.2.96 PPPPOS..............................................................................................................................555
3.2.97 PPPSATS............................................................................................................................557
3.2.98 PROFILEINFO.....................................................................................................................559
3.2.99 PSRDOP .............................................................................................................................561
3.2.100 PSRDOP2 .........................................................................................................................563
3.2.101 PSRPOS............................................................................................................................564
3.2.102 PSRSATS..........................................................................................................................566
3.2.103 PSRTIME...........................................................................................................................568
3.2.104 PSRVEL ............................................................................................................................569
3.2.105 PSRXYZ ............................................................................................................................571
3.2.106 QZSSALMANAC ...............................................................................................................573
3.2.107 QZSSEPHEMERIS............................................................................................................575
3.2.108 QZSSIONUTC ...................................................................................................................577
OEM6 Firmware Reference Manual Rev 11 9
3.2.109 QZSSRAWALMANAC .......................................................................................................579
3.2.110 QZSSRAWCNAVMESSAGE.............................................................................................580
3.2.111 QZSSRAWEPHEM............................................................................................................581
3.2.112 QZSSRAWSUBFRAME ....................................................................................................582
3.2.113 RAIMSTATUS ...................................................................................................................583
3.2.114 RANGE..............................................................................................................................585
3.2.115 RANGECMP......................................................................................................................591
3.2.116 RANGECMP2....................................................................................................................594
3.2.117 RANGEGPSL1 ..................................................................................................................600
3.2.118 RAWALM...........................................................................................................................602
3.2.119 RAWCNAVFRAME............................................................................................................604
3.2.120 RAWEPHEM .....................................................................................................................605
3.2.121 RAWGPSSUBFRAME.......................................................................................................607
3.2.122 RAWGPSWORD ...............................................................................................................608
3.2.123 RAWLBANDFRAME..........................................................................................................609
3.2.124 RAWLBANDPACKET........................................................................................................611
3.2.125 RAWSBASFRAME ............................................................................................................612
3.2.126 REFSTATION....................................................................................................................613
3.2.127 REFSTATIONINFO ...........................................................................................................615
3.2.128 ROVERPOS ......................................................................................................................616
3.2.129 RTCA Standard Logs ........................................................................................................618
3.2.130 RTCM Standard Logs........................................................................................................620
3.2.131 RTCMV3 Standard Logs ...................................................................................................623
3.2.132 RTKASSISTSTATUS ........................................................................................................629
3.2.133 RTKDOP............................................................................................................................630
3.2.134 RTKDOP2..........................................................................................................................631
3.2.135 RTKPOS............................................................................................................................632
3.2.136 RTKSATS ..........................................................................................................................634
3.2.137 RTKVEL.............................................................................................................................636
3.2.138 RTKXYZ ............................................................................................................................638
3.2.139 RXCONFIG........................................................................................................................640
3.2.140 RXSTATUS .......................................................................................................................642
3.2.141 RXSTATUSEVENT ...........................................................................................................650
3.2.142 SATVIS..............................................................................................................................652
3.2.143 SATVIS2............................................................................................................................654
3.2.144 SATXYZ2...........................................................................................................................657
3.2.145 SBAS0...............................................................................................................................659
3.2.146 SBAS1...................................................................................................................
............660
3.2.147 SBAS2...............................................................................................................................661
3.2.148 SBAS3...............................................................................................................................664
3.2.149 SBAS4...............................................................................................................................666
3.2.150 SBAS5...............................................................................................................................668
3.2.151 SBAS6...............................................................................................................................670
3.2.152 SBAS7...............................................................................................................................673
3.2.153 SBAS9...............................................................................................................................676
3.2.154 SBAS10.............................................................................................................................678
3.2.155 SBAS12.............................................................................................................................680
3.2.156 SBAS17.............................................................................................................................681
3.2.157 SBAS18.............................................................................................................................683
3.2.158 SBAS24..................................................................................................................
...........684
3.2.159 SBAS25.............................................................................................................................686
3.2.160 SBAS26.............................................................................................................................688
3.2.161 SBAS27.............................................................................................................................689
3.2.162 SBAS32.............................................................................................................................690
3.2.163 SBAS33.............................................................................................................................692
OEM6 Firmware Reference Manual Rev 11 10
3.2.164 SBAS34.............................................................................................................................694
3.2.165 SBAS35.............................................................................................................................696
3.2.166 SBAS45.............................................................................................................................698
3.2.167 SBASALMANAC................................................................................................................700
3.2.168 SBASCORR ......................................................................................................................702
3.2.169 SOFTLOADSTATUS .........................................................................................................704
3.2.170 SOURCETABLE................................................................................................................707
3.2.171 TERRASTARINFO ............................................................................................................709
3.2.172 TERRASTARSTATUS.......................................................................................................711
3.2.173 TIME ..................................................................................................................................713
3.2.174 TIMESYNC........................................................................................................................715
3.2.175 TRACKSTAT .....................................................................................................................716
3.2.176 VALIDMODELS .................................................................................................................718
3.2.177 VERIPOSINFO ..................................................................................................................719
3.2.178 VERIPOSSTATUS ............................................................................................................720
3.2.179 VERSION ..........................................................................................................................721
3.2.180 WIFIAPSTATUS................................................................................................................724
3.2.181 WIFICLISCANRESULTS...................................................................................................726
3.2.182 WIFICLISTATUS ...............................................................................................................729
4 Responses ................................................................................................................... 733
OEM6 Firmware Reference Manual Rev 11 11
Figures
Figure 1: Byte Arrangements ..........................................................................................................................20
Figure 2: 1PPS Alignment...............................................................................................................................58
Figure 3: ADJUST1PPS Connections.............................................................................................................60
Figure 4: Pulse Width and 1PPS Coherency ................................................................................................155
Figure 5: Illustration of Magnetic Variation and Correction ...........................................................................202
Figure 6: TTL Pulse Polarity .........................................................................................................................204
Figure 7: Moving Base Station ‘Daisy Chain’ Effect......................................................................................208
Figure 8: Using the SEND Command ...........................................................................................................269
Figure 9: Illustration of SETNAV Parameters ...............................................................................................285
Figure 10: Illustration of Undulation ..............................................................................................................323
Figure 11: Navigation Parameters ................................................................................................................530
Figure 12: Pass Through Log Data...............................................................................................................544
OEM6 Firmware Reference Manual Rev 11 12
Tables
Table 1: Field Types ........................................................................................................................................19
Table 2: ASCII Message Header Structure......................................................................................................21
Table 3: Binary Message Header Structure.....................................................................................................23
Table 4: Detailed Port Identifier .......................................................................................................................24
Table 5: Available Port Types ..........................................................................................................................29
Table 6: Binary Message Response Structure ................................................................................................30
Table 7: Binary Message Sequence ................................................................................................................31
Table 8: GPS Reference Time Status .............................................................................................................32
Table 9: OEM6 Commands Sorted by Function ..............................................................................................37
Table 10: OEM6 Commands in Alphabetical Order .........................................................................................44
Table 11: OEM6 Commands in Numerical Order ............................................................................................51
Table 12: Channel State .................................................................................................................................. 67
Table 13: Channel System...............................................................................................................................71
Table 14: L-Band Mode ...................................................................................................................................73
Table 15: L-Band Assignment Option ..............................................................................................................76
Table 16: Frequency Type ...............................................................................................................................84
Table 17: Antenna Type...................................................................................................................................86
Table 18: Radome Type ..................................................................................................................................93
Table 19: Velocity Types.................................................................................................................................. 96
Table 20: Supported BLUETOOTHCONFIG Parameters................................................................................97
Table 21: CELLULARCONFIG Parameters...................................................................................................100
Table 22: Tx, DTR and RTS Availability ........................................................................................................110
Table 23: GNSS Signal Default and Configurability.......................................................................................112
Table 24: Signal Type (DATADECODESIGNAL)...........................................................................................113
Table 25: Reference Ellipsoid Constants.......................................................................................................116
Table 26: Datum Transformation Parameters................................................................................................116
Table 27: Signal Type ....................................................................................................................................126
Table 28: DOS Command Enum ...................................................................................................................129
Table 29: User Dynamics...............................................................................................................................132
Table 30: Communications Port Identifiers ....................................................................................................135
Table 31: Clock Type .....................................................................................................................................147
Table 32: Pre-Defined Values for Oscillators .................................................................................................147
Table 33: FIX Parameters..............................................................................................................................149
Table 34: Fix Types .......................................................................................................................................150
Table 35: GLONASS L2 Code Type ..............................................................................................................152
Table 36: Signals Tracked – Channel Configuration and L2type Option .......................................................152
Table 37: GPS L2 Code Type........................................................................................................................153
Table 38: Signals Tracked – Channel Configuration and L2type Option .......................................................154
Table 39: VARF Input Ranges .......................................................................................................................156
Table 40: FRESET Target .............................................................................................................................158
Table 41: Seeding Mode................................................................................................................................172
Table 42: Serial Port Interface Modes ...........................................................................................................178
Table 43: PMUX Pin Description ..................................................................................................................181
Table 44: LED ID ...........................................................................................................................................187
Table 45: GNSS1/GNSS2 LED Patterns .......................................................................................................188
Table 46: SATTRACK1/SATRACK2 LED default values...............................................................................188
Table 47: DATALOG LED default values.......................................................................................................188
Table 48: GNSS1/GNSS2 LED default values ..............................................................................................189
Table 49: NMEA Talkers................................................................................................................................210
Table 50: Profile Option .................................................................................................................................233
Table 51: DGPS Type....................................................................................................................................235
OEM6 Firmware Reference Manual Rev 11 13
Table 52: RAIM Mode Types .........................................................................................................................241
Table 53: Dynamics Mode .............................................................................................................................249
Table 54: Network RTK Mode........................................................................................................................254
Table 55: RTK Quality Mode..........................................................................................................................255
Table 56: System Types ................................................................................................................................264
Table 57: SBAS Time Out Mode....................................................................................................................266
Table 58: COM Port Identifiers ......................................................................................................................274
Table 59: Parity..............................................................................................................................................274
Table 60: Handshaking ..................................................................................................................................274
Table 61: Ports Supporting RS-422 ...............................................................................................................275
Table 62: Selection Type ...............................................................................................................................280
Table 63: Ionospheric Correction Models ......................................................................................................284
Table 64: Russian Alphabet Characters (Ch) in Decimal (Dec) and Hexadecimal (Hex) ..............................292
Table 65: System Used for Timing.................................................................................................................296
Table 66: Available Set Up Commands .........................................................................................................304
Table 67: STEADYLINE Mode.......................................................................................................................310
Table 68: TrackSV Command Condition .......................................................................................................316
Table 69: User Accuracy Level Supplemental Position Types and NMEA Equivalents.................................319
Table 70: UTM Zone Commands...................................................................................................................336
Table 71: WIFIAPCONFIG Parameters and Values ......................................................................................338
Table 72: Legal Combination of Authentication, Encryption, Protocol ...........................................................339
Table 73: WIFIAPCONFIG Default Parameters for AP 1...............................................................................339
Table 74: WIFICLICONFIG Parameters ........................................................................................................341
Table 75: WIFICLICONTROL Parameters.....................................................................................................343
Table 76: WIFICONFIG Parameters ..............................................................................................................345
Table 77: Log Type Triggers..........................................................................................................................346
Table 78: OEM6 Logs Sorted by Function.....................................................................................................348
Table 79: OEM6 Logs in Alphabetical Order .................................................................................................355
Table 80: OEM6 Logs by Message ID ...........................................................................................................364
Table 81: Position Averaging Status..............................................................................................................385
Table 82: Data Source ...................................................................................................................................392
Table 83: Solution Status...............................................................................................................................395
Table 84: Position or Velocity Type ...............................................................................................................396
Table 85: BESTPOS Galileo and BeiDou Signal-Used Mask........................................................................397
Table 86: BESTPOS GPS and GLONASS Signal-Used Mask......................................................................397
Table 87: Extended Solution Status...............................................................................................................397
Table 88: Supplemental Position Types and NMEA Equivalents...................................................................398
Table 89: Observation Statuses.....................................................................................................................400
Table 90: BESTSATS GPS Signal Mask ..............................................................................................
.........401
Table 91: BESTSATS GLONASS Signal Mask .............................................................................................401
Table 92: BESTSATS Galileo Signal Mask ...................................................................................................401
Table 93: BESTSATS BeiDou Signal Mask...................................................................................................401
Table 94: The WGS84 ECEF Coordinate System .........................................................................................408
Table 95: Bluetooth Status.............................................................................................................................410
Table 96: Modem Status................................................................................................................................415
Table 97: Network Status...............................................................................................................................415
Table 98: CHANCONFIGLIST Signal Type ...................................................................................................417
Table 99: Clock Model Status ........................................................................................................................420
Table 100: Clock Source................................................................................................................................422
Table 101: Steering State ..............................................................................................................................422
Table 102: Kp UTC Leap Second Descriptions .............................................................................................447
Table 103: GLONASS Ephemeris Flags Coding ...........................................................................................450
Table 104: GPS Quality Indicators.................................................................................................................460
Table 105: Position Precision of NMEA Logs ................................................................................................467
Table 106: NMEA Positioning System Mode Indicator ..................................................................................478
OEM6 Firmware Reference Manual Rev 11 14
Table 107: URA Variance ..............................................................................................................................483
Table 108: Solution Source............................................................................................................................487
Table 109: Satellite System ...........................................................................................................................493
Table 110: HWMONITOR Status Table.........................................................................................................495
Table 111: L-Band Subscription Type............................................................................................................504
Table 112: HP Subscription Mode .................................................................................................................504
Table 113: L-Band Signal Tracking Status ....................................................................................................506
Table 114: OmniSTAR HP/XP/G2 Additional Status Word............................................................................507
Table 115: OmniSTAR HP/XP/G2 Status Word ............................................................................................507
Table 116: OmniSTAR VBS Status Word......................................................................................................508
Table 117: Feature Status Enum ...................................................................................................................528
Table 118: Feature Enum ..............................................................................................................................529
Table 119: Navigation Data Type ..................................................................................................................532
Table 120: Position Type ...............................................................................................................................556
Table 121: Status Word .................................................................................................................................560
Table 122: Integrity Status .............................................................................................................................584
Table 123: Protection Level Status ................................................................................................................584
Table 124: Channel Tracking Example..........................................................................................................588
Table 125: Channel Tracking Status..............................................................................................................588
Table 126: Tracking State..............................................................................................................................590
Table 127: Correlator Type ............................................................................................................................590
Table 128: Range Record Format (RANGECMP only)..................................................................................592
Table 129: Satellite Block of the Range Record Format (RANGECMP2 only) ..............................................595
Table 130: Signal Block of the Range Record Format (RANGECMP2 only) .................................................596
Table 131: Std Dev PSR Scaling ...................................................................................................................597
Table 132: Std Dev ADR Scaling...................................................................................................................597
Table 133: L1/E1/B1 Scaling .........................................................................................................................598
Table 134: Signal Type (only in RANGECMP2).............................................................................................599
Table 135: Base Station Status .....................................................................................................................614
Table 136: Station Type.................................................................................................................................614
Table 137: MSM type descriptions.................................................................................................................628
Table 138: Supported MSM messages..........................................................................................................628
Table 139: Receiver Error..............................................................................................................................644
Table 140: Receiver Status............................................................................................................................645
Table 141: Auxiliary 1 Status .........................................................................................................................646
Table 142: Auxiliary 2 Status .........................................................................................................................647
Table 143: Auxiliary 3 Status .........................................................................................................................648
Table 144: Status Word .................................................................................................................................651
Table 145: Event Type...................................................................................................................................651
Table 146: Evaluation of UDREI ....................................................................................................................663
Table 147: Evaluation of UDREI ....................................................................................................................691
Table 148: SBAS Subsystem Types..............................................................................................................701
Table 149: SoftLoad Status Type ..................................................................................................................704
Table 150: TerraStar Subscription Permissions Field....................................................................................710
Table 151: TerraStar Subscription Type ........................................................................................................710
Table 152: TerraStar Region Restriction .......................................................................................................710
Table 153: TerraStar Decoder Data Synchronization State...........................................................................711
Table 154: TerraStar Local Area Status ........................................................................................................712
Table 155: TerraStar Geogating Status .........................................................................................................712
Table 156: Veripos Operating Mode ..............................................................................................................719
Table 157: Veripos Subscription Details Mask ..............................................................................................719
Table 158: Veripos Decoder Data Synchronization State..............................................................................720
Table 159: Component Types........................................................................................................................722
Table 160: VERSION Log Field Formats.......................................................................................................723
Table 161: Wi-Fi AP States............................................................................................................................725
OEM6 Firmware Reference Manual Rev 11 15
Table 162: Wi-Fi BSS Types..........................................................................................................................727
Table 163: Non-HT Rates ..............................................................................................................................727
Table 164: Wi-Fi Client State .........................................................................................................................730
Table 165: Wi-Fi Network ID ..........................................................................................................................731
Table 166: Wi-Fi Client Error .........................................................................................................................732
Table 167: Response Messages ...................................................................................................................733
OEM6 Firmware Reference Manual Rev 11 16
Customer Support
NovAtel Knowledge Base
If you have a technical issue, visit the NovAtel Support page at www.novatel.com/support.Through the
Support page, you can contact Customer Support, find papers and tutorials or download current manuals and
the latest firmware.
Before Contacting Customer Support
Before you contact NovAtel Customer Support about a software problem, perform the following steps:
1. Log the following data to a file on your computer for 15 minutes:
RXSTATUSB once
RAWEPHEMB onchanged
RANGEB ontime 1
BESTPOSB ontime 1
RXCONFIGA once
VERSIONA once
2. Send the data file to NovAtel Customer Support: supp[email protected]
3. You can also issue a FRESET command to the receiver to clear any unknown settings.
If you are having a hardware problem, send a list of the troubleshooting steps taken and the results.
Contact Information
Log a support request with NovAtel Customer Support using one of the following methods:
Log a Case and Search Knowledge:
Website: www.novatel.com/support
Log a Case, Search Knowledge and View Your Case History: (login access required)
Web Portal: https://novatelsupport.force.com/community/login
E-mail:
Telephone:
U.S. and Canada: 1-800-NOVATEL (1-800-668-2835)
International: +1-403-295-4900
The FRESET command will erase all user settings. You should know your configuration (by
requesting the RXCONFIGA log) and be able to reconfigure the receiver before you send the
FRESET command.
OEM6 Firmware Reference Manual Rev 11 17
Foreword
Thank you for purchasing your NovAtel product. Your receiver includes companion documents to this manual
with information on the hardware operation. Afterwards, this document will be your primary reference guide
for commands and logs.
This manual describes each command and log the OEM6 family of receivers are capable of accepting or
generating. Sufficient detail is provided so you can understand the purpose, syntax and structure of each
command or log. You will also be able to communicate with the receiver, enabling you to effectively use and
write custom interfacing software for specific applications.
Related Documents and Information
OEM6 products include the following:
• Satellite Based Augmentation System (SBAS) signal functionality
• Support for all current and upcoming GNSS constellations
• L-Band capability including TerraStar licensed based corrections
• National Marine Electronics Association (NMEA) standards, a protocol used by GNSS receivers to
transmit data
• Differential Global Positioning System (DGPS)
• Real-Time Kinematic (RTK)
For more information on these components, please refer the Support page on our website at
www.novatel.com/support
. For introductory information on GNSS technology, refer to our An Introduction to
GNSS book found at www.novatel.com/an-introduction-to-gnss/
This manual does not address any of the receiver hardware attributes or installation information. Consult the
OEM6 Family Installation and Operation Manual
(OM-20000128) for information about these topics.
Furthermore, should you encounter any functional, operational or interfacing difficulties with the receiver,
refer to the NovAtel web site for warranty and support information.
Conventions
The following conventions are used in this manual:
Denotes information to supplement or clarify the accompanying text.
Caution that a certain action, operation or configuration may result in incorrect or improper use
of the product.
Warning that a certain action, operation or configuration may result in regulatory
noncompliance, safety issues or equipment damage.
Foreword
OEM6 Firmware Reference Manual Rev 11 18
Logs and Commands Defaults and Structure
• The factory defaults for commands are shown in Section 2.3, Factory Defaults on page 37. Each
factory default is also shown after the syntax but before the example of each command description.
• The letter H in the Binary Byte or Binary Offset columns of the commands and logs tables represents
the header length for that command or log, see Section 1.1.3, Binary on page 22.
• The number following 0x is a hexadecimal number.
• Default values shown in command tables indicate the assumed values when optional parameters
have been omitted. Default values do not imply the factory default settings, see Section 2.3, Factory
Defaults on page 37 for a list of factory default settings.
• Parameters surrounded by [ and ] are optional in a command or are required for only some instances
of the command depending on the values of other parameters.
• Text displayed between < and > indicates the entry of a keystroke in the case of the command or an
automatic entry in the case of carriage return <CR> and line feed <LF> in data output.
• In tables where no values are given they are assumed to be reserved for future use.
• Status words in ASCII logs are output as hexadecimal numbers and must be converted to binary
format (and in some cases then also to decimal) to parse the fields because they are not fixed in 4-
bits boundary. For an example of this type of conversion, see the RANGE log, Table 125, Channel
Tracking Status on page 588.
• Conversions and their binary or decimal results are always read from right to left. For a complete list
of hexadecimal, binary and decimal equivalents, refer to the Unit Conversion
information available on
our website at www.novatel.com/support/search/
.
• ASCII log examples may be split over several lines for readability. In reality, only a single [CR][LF]
pair is transmitted at the end of an ASCII log.
You can download the most up-to-date version of this manual along with any addendums from the Support
section of the NovAtel website.
Prerequisites
As this reference manual is focused on the OEM6 family commands and logging protocol, it is necessary to
ensure the receiver has been properly installed and powered up according to the instructions outlined in the
companion OEM6 Family Installation and Operation User Manual
(OM-20000128) for OEM6 cards and the
FlexPak6 enclosures and/or the ProPak6 User Manual
(OM-20000148) before proceeding.
OEM6 Firmware Reference Manual Rev 11 19
Chapter 1 Messages
1.1 Message Types
The receiver handles incoming and outgoing NovAtel data in three different message formats: Abbreviated
ASCII, ASCII and binary. This allows for a great deal of versatility in the way the OEM6 family of receivers
can be used. All NovAtel commands and logs can be entered, transmitted, output or received in any of the
three formats. The receiver also supports RTCA, RTCMV3, RTCM, CMR, CMRPLUS and NMEA format
messaging. For more 11information about message logs, refer to the contents of Chapters 2 and 3.
When entering an ASCII or abbreviated ASCII command to request an output log, the message type is
indicated by the character appended to the end of the message name. ‘A’ indicates the message is ASCII
and ‘B’ indicates binary. No character means the message is Abbreviated ASCII. When issuing binary
commands, the output message type is dependent on the bit format in the message’s binary header (refer to
Section 1.1.3, Binary on page 22).
Table 1, Field Types on page 19 below, describes the field types used in the description of messages.
Table 1: Field Types
Type
Binary
Size
(bytes)
Description
Char 1
The char type is an 8-bit integer in the range -128 to +127. This integer value may be the
ASCII code corresponding to the specified character. In ASCII or Abbreviated ASCII this
comes out as an actual character
UChar 1
The uchar type is an 8-bit unsigned integer. Values are in the range from +0 to +255. In
ASCII or Abbreviated ASCII this comes out as a number
Short 2 The short type is 16-bit integer in the range -32768 to +32767
UShort 2 The same as short except it is not signed. Values are in the range from +0 to +65535
Long 4 The long type is 32-bit integer in the range -2147483648 to +2147483647
ULong 4 The same as long except it is not signed. Values are in the range from +0 to +4294967295
Double 8
The double type contains 64-bits: 1 for sign, 11 for the exponent and 52 for the mantissa.
Its range is ±1.7E308 with at least 15 digits of precision. This is IEEE 754
Float 4
The float type contains 32-bits: 1 for the sign, 8 for the exponent and 23 for the mantissa.
Its range is ±3.4E38 with at least 7 digits of precision. This is IEEE 754
Enum 4
A 4-byte enumerated type beginning at zero (an unsigned long). In binary, the enumerated
value is output. In ASCII or Abbreviated ASCII, the enumeration label is spelled out
GPSec 4
This type has two separate formats dependent on whether you requested a binary or an
ASCII format output. For binary, the output is in milliseconds and is a long type. For ASCII,
the output is in seconds and is a float type
Hex n
Hex is a packed, fixed length (n) array of bytes in binary but in ASCII or Abbreviated ASCII
is converted into 2 character hexadecimal pairs
String n
String is a variable length array of bytes that is null-terminated in the binary case and
additional bytes of padding are added to maintain 4-byte alignment. The maximum byte
length for each String field is shown in the row in the log or command tables
Messages Chapter 1
OEM6 Firmware Reference Manual Rev 11 20
Figure 1: Byte Arrangements
1.1.1 ASCII
ASCII messages are readable by both the user and a computer. The structures of all ASCII messages follow
the general conventions as noted here:
1. The lead code identifier for each record is '#'.
2. Each log or command is of variable length depending on amount of data and formats.
3. All data fields are delimited by a comma ',' with two exceptions:
• The first exception is the last header field which is followed by a ‘;’ to denote the start of the data
message.
• The second exception is the last data field, which is followed by a * to indicate end of message data.
4. Each log ends with a hexadecimal number preceded by an asterisk and followed by a line termination
using the carriage return and line feed characters.
For example:
*1234ABCD[CR][LF]. This value is a 32-bit CRC of all bytes in the log, excluding the '#' identifier and the
asterisk preceding the eight CRC digits.
See Section 1.7, 32-Bit CRC on page 34 for the algorithm used to generate the CRC.
5. The receiver only accepts the following ASCII characters.
- characters between space (ASCII value 32) and '~' (ASCII value 126) inclusive,
- vertical tab (ASCII value 9), line feed (ASCII value 10), horizontal tab (ASCII value 11) and
carriage return (ASCII value 13)
Other values are discarded and can lead to unexpected results.
Figure 1, Byte Arrangements on page 20 shows the arrangement of bytes, within each field
type, when used by IBM PC computers. All data sent to or from the OEM6 family of receivers,
however, is read least significant bit (LSB) first, opposite to what is shown in Figure 1, Byte
Arrangements on page 20. Data is then stored in the receiver LSB first. For example, in char
type data, the LSB is bit 0 and the most significant bit (MSB) is bit 7. See Table 125, Channel
Tracking Status on page 588 for a more detailed example.
/