Goss Rom Type Module Binary Message Protocol V1.8
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GOSS GOSS ROM Type Module Binary Message Protocol User’s Reference Guide Document Revision: V1.8 Document Release: Jun 6th, 2007
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1. Binary Message Structure The binary message comprises of binary string with length of up to 255 characters. It has the following format: Format %%<Message Start>Message Body><Message End>
Message Start: Message Type: ACK (06h), NAK (15h), Input (F1h), Output (F2h) Message ID: Number between 0x01, 0xEF Message Body: Contains input parameter or output information related to the particular message. Message End: Checksum byte. The checksum is calculated by performing exclusive-or, XOR, of all bytes from <Message Type> till the last byte prior to: CS = CS ^ , where initially CS = 0 Sample C-Code for Calculating Checksum char BIN_ComputeChecksum( char* buf, int len ) { int i; char chksum; chksum = 0; for (i=0; i
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2. Binary Input Message Type This group of binary messages is used to configure the GPS receiver, or to request information from the GPS receiver. If the receiver carries out the command successfully, ACK binary message is returned; otherwise NAK binary message is returned.
Byte Ordering All data is in little-endian format, with low-order byte (LSB) at lower address. ACK/NAK An output ACK message indicates GPS accepts the message while NAK indicates GPS cannot execute the command at the moment. However, an error input command will not get any acknowledge message from GPS.
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2.1 Restart (01h)
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2.2 Baud-Rate Configuration (02h)
2.3 Set Datum (03h)
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2.4 Set NMEA Configuration (04h)
2.5 Query Firmware Version (05h)
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2.6 Restore Factory Default (08h)
2.7 Set ID (0Dh)
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2.8 Query Module ID (0Eh)
2.9 Set DOP Mask (0Fh)
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2.10 Set Elevation Mask (10h)
2.11 DGPS Control (11h)
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2.12 1PPS Control (12h)
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2.13 Set Output Format (13h)
2.14 Sleep Mode (14h)
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2.15 Query Navigation Parameters (17h)
2.16 Query System Settings (18h)
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2.17 Set Local Time (19h)
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2.18 Set Extended Datum (1Bh)
2.19 Record Trace (1Dh)
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2.20 Read Trace Log (1Eh)
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2.21 Maintain Trace (1Fh)
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2.22 Set Update Rate (20h)
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3. Binary Output Message Type This group of binary messages is output in response to commands that requests additional receiver information. Data Types Used (See Binary Input Message Type ) Byte Ordering (See Binary Input Message Type )
3.1 Firmware Revision (80h)
3.2 Module ID (85h)
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3.3 Navigation Parameters (86h)
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3.4 System Settings (87h)
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3.5 Packed Trace Data (88h)
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3.6 Trace Buffer Configuration and Status (89h)
3.7 Extended Trace Buffer Status (8Ah)
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3.8 User Position, Velocity & Time II (D1h)
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3.9 User Satellite Information (D2h)
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3.10 User Measurement Information (D3h)
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Appendix A Ellipsoid List
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Appendix B Datum Reference List
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Document Revision History
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1. Binary Message Structure The binary message comprises of binary string with length of up to 255 characters. It has the following format: Format %%<Message Start>Message Body><Message End>
Message Start: Message Type: ACK (06h), NAK (15h), Input (F1h), Output (F2h) Message ID: Number between 0x01, 0xEF Message Body: Contains input parameter or output information related to the particular message. Message End: Checksum byte. The checksum is calculated by performing exclusive-or, XOR, of all bytes from <Message Type> till the last byte prior to
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2. Binary Input Message Type
Byte Ordering All data is in little-endian format, with low-order byte (LSB) at lower address. ACK/NAK An output ACK message indicates GPS accepts the message while NAK indicates GPS cannot execute the command at the moment. However, an error input command will not get any acknowledge message from GPS.
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2.1 Restart (01h)
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2.2 Baud-Rate Configuration (02h)
2.3 Set Datum (03h)
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2.4 Set NMEA Configuration (04h)
2.5 Query Firmware Version (05h)
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2.6 Restore Factory Default (08h)
2.7 Set ID (0Dh)
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2.8 Query Module ID (0Eh)
2.9 Set DOP Mask (0Fh)
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2.10 Set Elevation Mask (10h)
2.11 DGPS Control (11h)
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2.12 1PPS Control (12h)
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2.13 Set Output Format (13h)
2.14 Sleep Mode (14h)
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2.15 Query Navigation Parameters (17h)
2.16 Query System Settings (18h)
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2.17 Set Local Time (19h)
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2.18 Set Extended Datum (1Bh)
2.19 Record Trace (1Dh)
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2.20 Read Trace Log (1Eh)
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2.21 Maintain Trace (1Fh)
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2.22 Set Update Rate (20h)
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3. Binary Output Message Type
3.1 Firmware Revision (80h)
3.2 Module ID (85h)
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3.3 Navigation Parameters (86h)
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3.4 System Settings (87h)
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3.5 Packed Trace Data (88h)
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3.6 Trace Buffer Configuration and Status (89h)
3.7 Extended Trace Buffer Status (8Ah)
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3.8 User Position, Velocity & Time II (D1h)
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3.9 User Satellite Information (D2h)
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3.10 User Measurement Information (D3h)
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Appendix A Ellipsoid List
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Appendix B Datum Reference List
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Document Revision History
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