USER`S MANUAL AT Command Set Option V1.0 for µ
Contents
1. AT command Expected reactions AT OK 0 ERROR 4 AT amp DO OK 0 ERROR 4 ATVO OK 0 AT CPIN xxxx OK ERROR AT CPIN CPIN SIM PIN CPIN SIM READY ATDXXXXXXXX OK ERROR NO CARRIER if connection is terminated AT4CREG CREG x y ATA OK ERROR AT CM GS xx Before PDU is sent OD 0A 3E 20 after PDU CMGS xxx AT4CNMI 22 2 0 0 0 OK CME ERROR 515 AT4CM EE 1 OK ATH OK AT CHUP OK Table 20 Used AT commands GPS G1 X 00001 P1 Page 27 AT Command Set Option User s M anual U blox ag B TYPE DEFINITIONS Table 22 Modem Settings Structure Field name Type Length Unit Remark Pin STRING 11 Zero terminated string Flags ULONG 4 Enable AT 0x01 AT debug messages 0x02 Demo message 0x04 No power up mode 0x08 GPIO_out BYTE 1 GPIO output mask GPIO_Init BYTE 1 GPIO output initial setting mask Reserved BYTE 8 Reserved for future use SCA Number STRUCT 22 See Table 24 Host 1 Number STRUCT 22 See Table 24 Host 2 Number STRUCT 22 See Table 24 Host 3 Number STRUCT 22 See Table 24 Host 4 Number STRUCT 22 See Table 24 Modem Settings STRUCT See Table 22 Trigger Settings STRUCT 39 See Table 23 Reserved BYTE 11 Set to zero Timer 0 STRUCT 11 See Table 25 Timer 1 STRUCT 11 See Table 25 Area STRUCT 11 See Table 25 Move STRUCT 11 See Table 25 Speed2. AT_Event_struct AT_Config_struct General Modem Trig Events EVENTS GPS G1 X 00001 P1 Page 31 AT Command Set Option User s M anual blox ag C RELATED DOCUMENTS GPS G1 X 00005 GPS MS1E GPS PS1E Protocol Specification GPS G1 MS1 00002 GPSM SIE Datasheet All these documents are available on our homepage http w ww u blox com GPS G1 X 00001 P1 Page 32 AT Command Set Option User s M anual blox ag D GLOSSARY DOP Dilusion of Precision GPIO General Purpose Input Output GPS Global Positioning System GSM Global System of Mobile Communication MO Mobile Originated MT Mobile Terminated PIN Personal Identification Number SCA Service Center Address SIM Subscriber Identity M odule SM Short M essage SMS Short M essage Service SV Space Vehicle Satellite TOW Time of Week GPS Time GPS G1 X 00001 P1 Page 33 AT Command Set Option User s M anual blox ag E CONTACT For further information contact Technical Support Headquarter u blox ag u blox ag Zurcherstrasse 68 Zurcherstrasse 68 CH 8800 Thalwil Switzerland CH 8800 Thalwil Switzerland Phone 441 1 722 74 74 Phone 441 1 722 74 44 FAX 41 1 722 74 47 FAX 441 1 722 74 47 E mail support u blox ch E mail sales u blox ch WWW http www u blox com WWW http www u blox com All trademarks mentioned in this document are property of their respective owners Copyright 2000 u blox ag
3. 0xC303 AT command answer AT command answer from the modem for testing only 0xC304 Sense message Sense request OxC3DE ACK Acknowledge OxC36F NACK Not acknowlede Table 10 Output messages GPS G1 X 00001 P1 Page 12 AT Command Set Option User s M anual blox ag Status Msg ID 0xC301 Message 0xC301 is sent as answer to the status request input message 0xc301 Field Name Type Length bytes Value Remark ID Word 2 0xC301 Modem state Byte 1 State of the modem state machine Last Event Byte 1 Last action Byte 1 Events on SMS stack Byte 1 Events on call stack Byte 1 Reserved Byte 8 Total length 15 Configuration Msg ID 0xC302 Message 0xC302 is sent as answer to the get configuration input message 0xc305 Message 0xC302 has the same format as the input message 0xC302 Field Name Type Length bytes Value Remark ID Word 2 0xC 302 0 configuration x 2 520 Data identifier Pye d 1 User data packets x 2 544 Data X Total length 3 X AT command answer Msg ID 0xC303 Message 0xC303 is sent if the modem sent something to the AT firmware The message contains the message from the modem Field Name Type Length bytes Value Remark ID Word 2 0xC303 AT command i X answer Total length 2 x Sense message Msg ID 0xC304 The sense messages is sent durin
4. 515 Figure 14 Console view 5 1 3 Map view The map displays a bitmap which can be calibrated to longitude latitude If a data packet 1 or 64 is decoded in an incoming SMS the position will be marked with cross on the map With the add point button a point can be added manually ETLER T Aim mec rx 2670 fod 774 005 3606 i22 19104 47 3705 851347 Figure 15 Map view Pressing the right mouse button in the map view will show up a menu which lets you set the reference points of the map Instead of setting the reference points each time the map is loaded a map calibration file can be written in a text editor See the sample mcf file for the syntax 5 2 Settings Dialog The settings dialog lets you configure the AT firmware When the dialog is opened the configuration has to be uploaded first This is done with the Get Configuration button To download the configuration to the GPS receiver press the Set Configuration button If Write to Flash is checked the configuration will be stored in the flash memory If Write to flash is checked the downloaded configuration will be written into flash memory GPS G1 X 00001 P1 Page 22 AT Command Set Option User s M anual blox ag A configuration can be saved to a file and reloaded later The OK and Cancel buttons do not have any other function than closing the dialog They do not influence down or uploading There is a stan
5. AT Command Set Option User s M anual U blox ag Go to the trigger tab and enter your area in the area trigger settings set the repetition rate to 180s Remember to put the greater coordinates in the first fields Select Data call to host 1 as action for the area trigger Go back to the general tab and press the set configuration button As soon as you enter the defined area a data connection will be opened to host 2 You have to answer the call to your host Once the connection is up you can poll position information or you can send a command to switch to SIRF protocol Sirf protocol output will be sent over the data connection GPS G1 X 00001 P1 Page 25 AT Command Set Option User s M anual blox ag 7 LIMITATIONS l Serial ports 2 and 3 Mode are not supported in Trickle Power and Push to Fix Mode 2 If the AT Firmware is used on a GPS PSIE the GPIO triggers cannot be used Additionally certain GSM Modem Control Signals Reset Powerup are not available Depending on the GSM modem and network not all features of the AT Firmware may be available 4 The current consumption in low power modes can be estimated with the normal formula from the low power application note but 18mA have to be added to that value GPS G1 X 00001 P1 Page 26 AT Command Set Option User s M anual blox ag A USED AT COMMANDS This list summarizes all AT commands sent by the AT Firmware and the expected reactions
6. External requirements power supply for GPS and GSM Backup battery for real time clock and SRAM Serial interface for NM EA or SIRF binary data Passive or active Antenna GSM Modem supporting AT Interface GSM 07 05 07 07 GPS G1 X 00001 P1 Page 4 AT Command Set Option User s M anual blox ag 2 OVERVIEW A typical application for Fleetmanagement AVL or Tracking requires position information and communication with a central office The traditional setup requires a GPS receiver a GSM modem and an external controller This controller reads positions from the GPS receiver and controls the modem Incorporating the control of the GSM modem into a GPS receiver spares the extra processor which simplifies the design and saves cost With the AT command interface for GPS receivers blox offers an integrated control system for GSM modems This control system is designed for autonomous operation An external controller is not required but can be used for enhanced functionality An external controller may communicate with the GPS receiver via a serial port with the SIRF binary protocol The GSM modem is connected to the other serial port and is controlled through the GPS receiver M inimal external wiring is necessary to get a fully functional system to send position information via GSM SMS data connection Figure 1 Schematic The GSM controller is event driven For each event an action and the data transmitted can be defined E
7. SMS is used Sending the switch to online command will activate SiRF protocol on the data connection All SiRF protocol output messages are sent and all input messages will work GPS G1 X 00001 P1 Page 17 AT Command Set Option User s M anual U blox ag Warning Do not send any commands which could cause a reset of the GPS module Although reconfiguration is possible over a data connection it is not recommended to do so 3 6 Special Function Pins 3 6 1 Power on off Signal The AT Firmware generates a power signal for the GSM Modem at the SCKO pin see 3 4 2 for the configuration of the signal The power on off signal is not generated if no power up mode is activated Note The GPS PS1E AT does not support the Reset Signal So the module has to be used in no power up mode always 3 6 2 Reset Signal On the SCK1 pin a reset signal is generated The reset signal is active low If the AT Firmware can t communicate with the modem the reset line is activated for a second and the modem is reinitialized The reset signal is not generated if no power up is activated Note The GPS PS1E AT does not support the Reset Signal 3 6 3 General Purpose Input Outputs Two GPIO from GPIO 0 11 can be configured as trigger inputs GPIO 0 7 can be configured as outputs which can be set and cleared using SMS or a data connection GPIO 8 11 can function as inputs only All GPIO can be read using SMS or a data connection GPS
8. s M anual blox ag meen fe bytes CMD D ye 1 O S den e a a Total Length 3 5 3 8 Request Reset Online Timeout Command 0x82 This command will reset the online timeout mm e bytes CMD D Bye nO o TCC Length e o 1 Total Length 3 5 3 9 SMS outgoing The short message protocol is shown below Each packet has a header which consists of the packet ID and the packet length exclusive header Figure 9 SMS frame Packet ID Packet Data Termination length 01 20 41 12 98 33 AD F2 B4 FB 04 ED B3 03 00 E2 DO 24 01 00 BC 00 00 00 00 O1 22 04 20 FF 45 04 02 06 09 Figure 10 GPS data packet ID 1 in SM 3 5 3 10 SMS Incoming The protocol for requests via SMS is the same as if a SMS is sent The requests have to be coded as 8Bit data with the Data Coding Scheme DCS of the SMS set to OxF4 Any other DCS as OxFA will be treated as 7bit text demo mode Table 15 SM S and Data Commands Command Packet Data Termination ID length 01 OB 01 01 00 00 00 00 00 00 00 01 00 00 Figure 11 Initiate a SMS with the GPS data packet sent to host 1 There is a demo mode which sends the position back to you as a 7bit text SMS if you send a text SMS containing only P This demo message can be disabled for security reasons 3 5 3 11 Data connection If a data connection is opened the AT Firmware enters data mode In the data mode the same protocol as in
9. the AT Firmware will go into data mode In this mode you can send the same requests to the module as in SMS In data mode you have to send a request at least every 30 s keep alive or the connection will be closed Online mode If you request online mode the AT Firmware will send SiRF protocol messages via the data connection In online mode you will have to answer sense messages to keep the connection up A sense message is sent every 30s and has to be answered within 10s or the connection will be closed 3 2 3 Voice Call This action will open a voice connection to the host During the voice connection all SMS functionality is still available A voice connection will be closed after 10 minutes or if the other station hangs up 3 2 4 RX The action RX tums on the modem that means sending the action RX to the modem awakes the modem and enables it to receive calls or SM S 3 2 5 Answering calls The AT Firmware answers calls It detects if it is a voice or data call and handles this accordingly Once the connection is up it is handled the same way as if it is a call initiated by the AT firmware 3 3 Data SMS Data is organized in packets A message consists of several packets Up to 8 data packets can be assigned to each event The maximum packet size is limited to 138 bytes due to restrictions in the SMS specification The AT firmware supports different kind of packets which are different in content and the way they are handle
10. 0x02 1000000 1 2 0x2B is reserved because this is used to detect connection loss GPS G1 X 00001 P1 Page 29 AT Command Set Option User s M anual U blox ag define REQ RESERVED2 0x38 8 is reserved data mode only requests define REQ ONLINE 128 define REQ HANGUP 129 define REQ TIMER RESET 130 Events typedef enum GSMEvents NO_EVENT 0 TIMERO TIMER1 EXTERNEV INTERNEV EVENTS Data Packet structs typedef struct DOUBLE TOW int Lat int Lon short Alt short Sog short Cr short Cog uint16 Week uint16 GPIO UBYTE Mode UBYTE DOP UBYTE SVs UBYTE Event DP_ID1_Struct Status message typedef struct UBYTE ModemState UBYTE Event UBYTE Action UBYTE NrEvOnSMSStack UBYTE NrEvOnCallStack UBYTE res1 UBYTE res2 UBYTE res3 UBYTE res4 UBYTE res5 UBYTE res6 UBYTE sw ver0 UBYTE sw verl JAT Status Struct user data packet struct typedef struct UBYTE Length NUM OF DEF DP UBYTE Data DEF DP BYTES DP USER Struct phone numbers typedef struct UBYTE Length UBYTE Type UBYTE Number 20 GSM Phone Number Struct event config typedef struct UBYTE Action UBYTE DPIDS MAX DP UBYTE Host UBYTE Flags JAT Event struct trigger config typedef struct because this is used to detect connection loss GPS G1 X 00001 P1 Page 30 AT Command Set Option User s M a
11. 0x91 Address STRING 20 International number without preceding Total Length 22 Table 24 Phone number structure Field name Type Length Unit Remark Action UBYTE 1 Data Packets UBYTE 8 Host UY BTE 1 1 4 Flags UY BTE 1 Always 0 Total Length 11 Table 25 Event configuration structure These type definitions are usefuel in writing software which communicates with the AT firmware These definitions are also available as a the file at_type h The byte order is big endian All structures are filled up with padding bytes so that the size is a multiple of four define MAX_DP 8 define MAX_DP_BYTES 138 define DEF_DP_BYTES 512 define NUM OF DEF DP 32 define MAX HOST 4 configuration flags define AT OPTION define AT DEBUG MSG define REPLY TO SENDER define NO POWERUP Trigger Flags define AREA INSIDE define P2F TRIGGER define LATLONSCALE number of phone numbers define PHONE NUMBERS 4 init script structure define INIT SCRIPT LENGHT 100 data poll messages define REQ DATA define REQ DATA P2F define REQ SET TRIGGER 32 define REQ SET EVENT 35 define REQ SET LP MODE 34 define REQ SET GPIO 95 define REQ RESERVEDI maximum number of data packets per sm comes from maximum length of an SMS 140 2 maximum size of all user packets together number of default user data packets highest host number 0x01 0x02 0x04 0x08 0x01
12. Data mode 3 Online mode Total length 3 Save configuration Msg ID 0xC307 Message 0xC307 saves the actual configuration into flash memory Field Name Type Length bytes Value Remark ID Word 2 0xC307 Total length 2 Sense message answer Msg ID 0xC308 Message 0xC308 is used to acknowledge requests from the AT firmware via an online connection If the requests are not acknowledged the AT firmware will close the connection and return to normal mode Field Name Type Length bytes Value Remark ID Word 2 0xC308 Total length 2 Below there is an example of a complete message sent over the serial port to the GPS receiver The following command triggers an external event The assigned action is an SM S sent to Host 1 containing data packets ID 1 and ID 128 Field Value HEX Remark Reserved 01 External event Action Type 01 Data SMS Data Packet IDs 01 80 00 00 00 00 00 00 Packet ID 1 and Packet ID 128 Host ID 01 Host 1 Flags 00 Currently unused Start Length SIRF ID blox ID Payload Checksum End A0A2 000B C3 04 01 01 01 80 00 00 00 00 00 00 01 00 02 F3 BO B3 Figure 5 Example External Event with configuration 3 5 1 2 Output Messages ID Name Remark 0xC301 Status Status of the AT controller 0xC302 Configuration Configuration or the user data packets
13. P1 Page 19 AT Command Set Option User s M anual u blox ag Figure 12 Recommended external wiring 4 2 1 Connection to the modem The GPS receiver does only have to be connected to the serial port of the GSM Modem Some GSM modems support an external pin to switch the modem on off resp For modem with support of this function we recommend to connect this pin This allows the controller to restart the modem in case of problems Antenna Input Level Modem on off Shifter Level Modem reset Shifter Modem TX Modem RX Level Shifter MSIE PSIE Signal name Modem line Modem line Modem line pin name Siemens M20 Falcom A2D Wavecom WMOD2D TXO Modem Rx USCRX DATA_RX2 RX RX0 Modem Tx USCTX DATA TX TX SCKO Modem on off IGNITION SOFT_ON SCK1 Modem reset RSTF Table 18 Connections to the Modems Settings Recommended values for Siemens M20 Falcom A2D Wavecom WMOD2D On pulse length 2s 3s 3s Off pulse length 0s 0s 0s Off command AT SM SO AT CPOF AT CPOF Wait after on pulse ls 10s 10s Wait after off pulse 0s 0s 0s No Power up Mode Yes Pre registration init script Post registration init script AT CNM l 2 2 0 0 0 AT4CNM l 2 2 0 0 0 AT CNM I 2 2 0 0 0 Table 19 Recomme
14. strange characters are returned the baudrate of the serial port is wrong If nothing is returned the serial connection may be broken or the modem is not on Once the modem is running the following commands have to be sent Step Command Description 1 AT amp DO The modem will now ignore the DTR signal 2 AT amp CO Ignore CTS 3 AT IPR 19200 Sets the baudrate to 19200 4 AT IFC 0 0 Disables flow control in data mode 5 AT CMGF 0 Set PDU mode SM S 6 ATVO Numerical return values 7 ATEO Echo off 8 AT4CM EE 1 Report mobile equipment errors 9 AT CBST 0 0 1 Set autobauding if your modem doesn t support autobauding like the Siemens M 20 you have to set your connection type If your call destination is an analogue modem set 7 0 1 V 32 if your destination is an ISDN modem set 71 0 1 V 110 10 AT amp W Save settings Table 17 Configuration of the modem 4 2 Recommended schematics and settings Figure 12 shows the lines that must be connected to the modem Normally will connect all four lines to the modem If you want to use a mobile phone with AT interface you probably don t have access to the on off and reset signal If you do not connect the on off and reset lines which is not recommended you have to activate no power up mode in the configuration If your modem has 3 3 levels logic levels on the on off reset rx or tx lines you don t need a level shifter GPS G1 X 00001
15. 0 None Switches to online mode Data mode only 0x81 None Terminate connection Data mode only 0x82 None Online timeout reset Data mode only Table 12 Data connection and SMS commands 3 5 3 1 Data Request Command 0x01 and 0x02 The data request generates an event with the given configuration It is possible to initiate all supported actions not only sending SMS Command 0x01 requests the position data available from the GPS In push to fix mode this data may be up to 30minutes old With Command 0x02 the receiver will calculate a new positions and send this actual position Note Command 0x02 will cause a reset of the GPS receiver all following requests in the same message will be lost Field Name Type Length Remark bytes 1 CMD ID Byte 0x01 or 0x02 Command 0x02 can be used in push to fix mode only Length Byte 1 Event Config STRUCT 11 See Table 25 Total Length 13 Table 13 Data Poll Command 0x01 and 0x02 3 5 3 2 Change Trigger Settings Command 0x20 The Change Trigger Settings Command sets new parameters for selected Triggers It does not support changing the trigger inputs for the GPIO triggers GPS G1 X 00001 P1 Page 15 AT Command Set Option User s M anual blox ag Field Name CMD ID Length Triggers to Change Trigger Settings Total Length Type Byte Byte WORD STRUCT Length bytes 1 1 2 44 48 Remark Bitmask 0x01 Timer 1 0x02 Timer 2 0
16. 41 General Settings e e a pee a ce e e OD a E D T d A AA La 8 3 4 2 GSM Modem Specific Settings ennemi 9 3 5 Protocols iore p tede tete NN NEEN at dea ANEN 9 3 5 1 Configuration Protocol sie uo t e tete ttp tette np ned aided te eee alas 9 3 5 2 AT Firmware ModGem z os o d d deese 14 3 5 3 HOSE Protocol e b e e t ANN ANN NSN ONAN ANA ANAS 14 3 6 Special Function PUN Seas et e t p ee e te e m oe a e eo ig t a 18 3 0 L POWeI On OTL SIMs oss aue ne ue eo eb e LL ea e ut tof eed 18 3 06 25 Reset Signal ea 18 4 Supported GSM modems iii iii disais dua aUa a aoo a auus dua a Rosa aoo o adis raa R d co Vedi aru d dards LO 4l Howto setup your Modei erinan tetti ta eoe eS RR EXER EX TRAE crererer crore ererererecer cre 19 4 2 Recommended schematics and settings emen 19 42 1 Connection to the modem i c eR e eae qae qme pde quse naa aoaaa da Ta dde 20 5 w Tracker Demo Program for the GPS MS1E AT nnne 21 5b NIC Wise EC turc LM LL 21 SRL SIRECOnSOle ec mmn p Ur t Up Ue t duet 21 54 2 ATCOrsole i icc aa ag e lg a C a a Ha E qu RO tata e La uU A 21 53 7 MapWwieWs eec ee Ec ee Ec hor dad d CC 22 5 2 Settings Dialog d oet titt m t tn tn t tnit us 22 6 Configuration examples iiiduisssids cix deti inoos ava cv vw evi a daa da Cu EX E a du de 24 6 1 Tracking an object with a position update via SMS every 1 minute sseeee 24 6 2 Tracking an object with a position updat
17. G1 X 00001 P1 Page 18 AT Command Set Option User s M anual blox ag 4 SUPPORTED GSM MODEMS The AT Firmware supports a sub set of the AT command set which is necessary to control GSM modems However the commands and the sequence of the commands required for the operation of GSM modems vary from supplier to supplier The AT Firmware has been tested on the modem listed in Table 16 Note that not all modems have a on off or reset line on their interfaces and are therefore tested without reset line or in no power up mode Modem Tested Services HW Connections Remark Siemens M 20T SMS MO MT 1 Rx Tx On off M 20 Voice Call MO MT 2 Rx Tx No power up Data Call MO MT mode Falcom A2D SMS MO MT 1 Rx Tx On off Voice Call MO MT Data Call MO MT Wavecom SMS MO MT Rx Tx NO power up WMOD2B Voice Call MO MT mode Data Call MO MT Motorola d15 Not tested yet Nokia 6090 Not tested yet Table 16 Supported GSM Modems 4 1 How to set up your modem Before a modem can be used with the AT option the modem has to be configured A PC with a serial port and a terminal program is needed to do this First the modem has to be connected to a serial port of the PC and the terminal program has to be opened on that serial port Normally after applying power a switch on signal has to be generated to turn on the modem Sending AT lt CR gt should cause the modem to answer with OK lt CR gt lt LF gt If
18. STRUCT 11 See Table 25 Log full STRUCT 11 See Table 25 GPIO 0 STRUCT 11 See Table 25 GPIO 1 STRUCT 11 See Table 25 External STRUCT 11 See Table 25 Reserved BYTE 11 Set to zero Table 21 Configuration Structure Field name Type Length Unit Remark On pulse Length UBYTE 1 S Off pulse Length UBYTE 1 S Wait after on pulse UBYTE 1 S Wait after off pulse UBYTE 1 S Off command STRING 10 Zero terminated string Search timeout UBYTE 1 min Off time UBYTE 1 min On timeout UBYTE 1 min Reserved BYTE 2 Pre registration init STRING 100 Zero terminated string command separator CR Post registration init STRING 100 Zero terminated string command separator CR GPS G1 X 00001 P1 Page 28 AT Command Set Option User s M anual U blox ag Field name Type Length Unit Remark Timer 0 period ULONG 4 S Timer 1 period ULONG 4 S Speed period ULONG 4 S Area period ULONG 4 S Lat 1 Float 4 Deg Lon 1 Float 4 Deg Lat 2 Float 4 Deg Lon 2 Float 4 Deg Speed Short 2 m s Radius Short 2 m 10 Reserved BYTE 4 Trigger Flags BYTE 1 0x01 AREA INSIDE GPIO Trigger 0 UBYTE 1 GPIO Number 0 11 GPIO Trigger 1 UBYTE 1 GPIO Number 0 11 Total Length 43 Table 23 Trigger Settings Structure Field name Type Length Unit Remark Address length UBYTE 1 Length of the Host 4 Address Address type UBYTE 1 Type of Host 4 Address always
19. The modem will be turned off if it cannot register again before Search Timeout runs out or if On Timeout has elapsed GPS G1 X 00001 P1 Page 8 AT Command Set Option User s M anual blox ag Setting Range Remark Enable AT Yes No Enables or disables the AT Option Option Enable Demo Yes No If enabled a demo SM with the actual position can be polled SMS Allow SMS reply Yes No If enabled and the host number in data request is zero the sms is to sender sent to the senders number This enables the demo message too No power up Yes No If no power up mode is activated no on off and reset signal are Mode generated The AT Firmware expects the modem to be on SIM PIN 10 characters Service center 20 characters If no SCA is set the SCA from the SIM card is used Phone numbers address have to be in international format without preceding Host 1 4 20 characters each Phone numbers of the hosts Depending on the network phone numbers have to be in different formats For SMS use international format without preceding For voice and data connections the plus has to be added On Timeout 0 255 minutes Time in minutes which the modem stays on after an action If zero the modem is always on Search Timeout 0 255 minutes Time in minutes after which the modem is turned off if there is no GSM net Off Time 0 255 minutes Minimum time in minute
20. This data sheet contains information on blox products in the sampling and initial production phases of development The specifications in this data sheet are subject to change at u BLOX discretion blox assumes no responsibility for any claims or damages arising out of the use of this document or from the use of modules based on this document including but not limited to claims or damages based on infringement of patents copyrights or other intellectual property rights u blox makes no warranties either expressed or implied with respect to the information and specifications contained in this document Performance characteristics listed in this document are estimates only and do not constitute a warranty or guarantee of product performance GPS G1 X 00001 P1 Page 34 AT Command Set Option User s M anual blox ag REVISION HISTORY Revision Date Name Status Comments Index 19 10 00 PE Initial version 27 10 00 CB Release Version GPS G1 X 00001 P1 Page 35
21. USER S MANUAL AT Command Set Option V1 0 mE for p blox GPS Receiver Modules mw Z rcherstrasse 68 CH 8800 Thalwil Switzerland GPS G1 X 00001 October 27 2000 Phone 41 1722 7444 Fax 411722 7447 For most current data sheets please visit www u blox com http www u blox com GPS Receiver with integrated GSM Control Software We reserve all rights in this document and in the information contained therein Reproduction use or disclosure to third parties without express authority is strictly forbidden 2000 u blox ag AT Command Set Option User s M anual U blox ag CONTENTS IM TT a 2iiiesiiieceicc A aval iedadiaicud cada divdasaaasudiciad E A 2 OV ON VICW va inso e ERE CEN cans isuatces EUR REB EREEBRER saunsod nuns tadatavicescesawesnicsavesduueaniachisaniseaseatiannk gt 3 Functionality of the AT Firmware eee O 3 Triggers and Events ce ret ere ted ete sec dede aes sae sae dA ded dde ERE TEN 6 3 2 AChOliSz certet Ae doe ide Ldcee Lact Lace Lact tacta Lie Lot Lot toe Lot Ld oed Lb ora 6 32 1 Data SMS E E EEE dde deditos uid dedu 6 3 2 2 Data Call z oo c ded c db db aa ta e a wah p Rd 6 3 2 35 VOICE Calls Ae dco MR LR LR A RA E SALE LE AL EL ELE E Es xc 7 Lr NU Gee ene er Oe one ne tee etree ee 7 3 2 Answering calls nt cedi dd de d elena cle a ed e aun 7 3 3 Data SM Give eee thee tate o dete E um 7 3 4 Configuration n a a a a ie 8 B
22. d IDs 1 to 63 are reserved for data packets which are assembled just before they are sent These packets will be referred to as data send packets Data packets with ID 64 127 are assembled when an event occurs and stored until they are sent They are called data event packets Arbitrary content can be assigned to IDs 128 159 The total length of these packets is limited to 512 bytes Packet ID Description Remark 1 GPS Data The data in this packet is put together just before the message is sent 2 61 Reserved 62 Serial Number 63 Demo Text M essage 64 GPS Data Data in this packet is put together when the event occurs 65 127 Reserved 128 159 User data packets 160 255 Reserved Table 3 Data Packets See Table 4 for the contents of the GPS Data Packets Packet ID 1 and 64 GPS G1 X 00001 P1 Page 7 AT Command Set Option User s M anual blox ag Field Length Scale Unit Remark Bytes TOW 8 ms Type double Latitude 4 10 8 radians Longitude 4 10 8 radians Altitude 2 m Speed over ground 2 m s Climb rate 2 m s Course over ground 2 radians Week 2 GPIO State 2 Mode 1 DOP 1 PDOP 3D Mode or HDOP 2D Mode SVs 1 Number of satellites used in fix Event 1 Event that caused the SM Total 32 Table 4 GPS Data Packet ID 1 and ID 64 Table 5 shows the Serial Number Packet Field Length Bytes Remark Se
23. d by a one byte u blox message ID GPS G1 X 00001 P1 Page 9 AT Command Set Option User s M anual blox ag Configuration Protocol Figure 3 Configuration Protocol NOTE Only SiRF binary protocol can be used to control the AT command Firmware Start Payload Payload Message End Sequence Length Checksum Sequence 0xA0 2 Bytes 0xC3 blox ID Length 2 Bytes 2 Bytes 0xBO 0xB3 0xA2 Table 8 SiRF Protocol Frame So the simplest control message for the AT command set Status request see Table 9 for details is packed into the SiRF protocol frame Start Length SiRF blox ID Checksum End ID A0 A2 0002 C3 01 00 C4 BO B3 Figure 4 Example GSM Status request 3 5 1 1 Input Messages The following input messages can be used to configure the AT command software through the serial port Table 9 show all available input messages for the configuration and operation of the AT firmware ID Name Remark 0xC301 Status request Polls the status of the AT controller 0xC302 Set configuration Sets the configuration or the user data packets 0xC 303 AT command Sends a AT command to the modem for testing only 0xC304 External event Causes an external event in the AT controller 0xC305 Get configuration Polls the configuration or the user data packets 0xC306 Set AT mode Sets the AT controller mode Used only to switch back from
24. dard configuration file uac for each supported modem AT Fimme Donfsguratinn Figure 16 Configuration GPS G1 X 00001 P1 Page 23 AT Command Set Option User s M anual U blox ag 6 CONFIGURATION EXAMPLES The AT Firmware has to be set up for the communication in the GSM network prior to any user specific configuration refer to Recommended schematics and settings Set the PIN code and the Service Center Address SCA The SIM card dealer provides the SCA Clear the SCA field if the AT firmware should use the pre programmed SCA on the SIM card Enter the destination address the phone number the SM shall be sent to in the host 0 field For voice and data connection we will use host 2 6 1 Tracking an object with a position update via SMS every 1 minute This is a typical application for the timer event Go to the trigger tab and set the interval of timerO to 60 seconds The timer event will now occur every 60 seconds Afterwards the action of the timerO event has to be configured This is done in the action tab Select the timerO event Choose send SM as action and host 0 as destination enter 1 as the first packet ID Packet 1 contains time and position and is assembled at send time Go back to the general tab and press the set configuration button 6 2 Tracking an object with a position update via SMS every 500m This is a typical application for the movement event Set the distance of the movement trigger in the
25. e via SMS every 500m ssssseeem 24 GPS G1 X 00001 P1 Page 2 AT Command Set Option User s M anual U blox ag 6 3 Send a position and an identification string if a button is pressed 24 6 4 Voice connection and position via SMS if a button is pressed 24 6 5 Online tracking if a certain area is entered emen 24 7 Limitations E TE EE TE TUE TE TUE Vs rs Ee isis 26 A Used AT COMMANGS uisi LK EREGUO UARIIS KUGOLA B FIGUR AE KE UU EK CREER LU XR Cra lo de B Type definitions ui ae E RROU AR ARERCU AER EVRULS EVE UDG OCA ENERO E ERE XUUE TT snn 28 C Related DocumMentsS s ssssssusssnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn nannan nanana sanns 32 a EE E Contact ssssssssnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn nnana ETOILE Revision HISEOTVS uoi oi eds EU as Kil Ex US FU b Rn ED AA RAE ECC ERAS GPS G1 X 00001 P1 Page 3 AT Command Set Option User s M anual blox ag 1 FEATURES SW Enhancement for the blox GPS M SIE and GPS PS1E Fully compatible to standard u blox GPS receivers Configuration through the serial interface Designed for autonomous operation Minimal external circuitry and no external controller required Supports a sub set of the AT command set for the control of GSM modems SM S messages data connections and voice calls autonomously triggered by GPS or external events Various configurable trigger Timer Movement Area Digital IO External events
26. g online mode when the AT firmware transmits Sirf protocol messages over a data connection The message is sent every 30 seconds and has to be answered within 15s If not the data connection is closed Field Name Type Length bytes Value Remark ID Word 2 0xC304 Total length 2 ACK Msg ID OxC3DE Ack or Nack is sent on reception of all messages which do not have answer Field Name Type Length bytes Value Remark ID Word 2 OxC3DE ACK ID Byte 1 ID of acknowledged M sg Total length 3 NACK Msg ID 0xC36F Ack or Nack is sent on reception of all messages which do not have answer GPS G1 X 00001 P1 Page 13 AT Command Set Option User s M anual blox ag Field Name Type Length bytes Value Remark ID Word 2 0xC36F NACK ID Byte 1 ID of not acknowledged M sg Total length 3 The following example shows a sense message sent in the online mode This message must be answered with a sense response within 15secs otherwise the connection is considered to be disrupted and closed from either ends Start Length SiRF ID u blox ID Checksum End A0A2 0002 C3 04 00 C7 BO B3 Figure 6 Example sense message 3 5 2 AT Firmware Modem GPS M S1E AT communicates with a GSM modem via the AT standard GSM 07 05 07 07 Configuration Protocol Figure 7 GSM Protocol 3 5 3 Host prot
27. l on the toolbar Pressing the right arrow symbol on the toolbar will send an external event message to the GPS xS1E AT Pressing the button with the question mark will poll the GPS xS1E AT status 5 1 2 AT console The AT console has two modes normal and direct mode In normal you can use this console to monitor and to send AT commands to the modem connected to the GPS xS1E AT In direct mode the AT console controls a modem which is connected directly to the pc In normal mode the upper part of the window displays the AT commands which are sent from the GSM modem to the GPS xS1E AT You can enter an AT command in the edit box Pressing enter will send the command to the GPS xS1E AT which will send it to the GSM modem The ending character of the AT command can be selected in the drop down list If you select another ending character than CR the selection will be set to CR again after the command is sent In direct mode no information is added in the lower part of the window In direct mode the toolbar and the corresponding menu entry get active You can use the console the same way as in normal mode Pressing the left arrow symbol will open a dialog for sending a SMS request to the GPS M SIE AT Incoming SMS will be decoded and displayed in the lower part of the window GPS G1 X 00001 P1 Page 21 AT Command Set Option User s M anual blox ag a AT concole TVOIIT CMe 2 DLOLDIRCMS ERROR 515 T EHHIsz 20 6pcus ERRDR
28. nded settings GPS G1 X 00001 P1 Page 20 AT Command Set Option User s M anual blox ag 5 p TRACKER DEMO PROGRAM FOR THE AT FIRMWARE u blox offers the u Tracker demo software running on Win9x or WinNT which allows the user to configure the AT command option easily 5 1 Views uTracker has 3 different views the SiRF console view the AT console view and the map view 5 1 1 SiRF console The SIRF console shows messages from your u blox GPS receiver which is connected to a serial port The upper part shows which messages have been received the lower part shows decoded debug messages Sal console m i Ime GOODE in O11 024 023 mr DEDE EF BF BF BE BF BF EF BF BF Q0 O0 CO 1000000 HT ime DODAT int Oi 7 087 0623 mic O amp O EF BF BF E BF BF EF BF BF DU OO 00 TODO Time DOORS int M T 068 023 ms 605 BF BF BF BF BF BF BF BF BF 0000 00 3000000 H DAM EF BF BF BF BF BF EF BF BF 00 GSI me 594 GF BF BF BF BF BF EE BF BF 00 00 CO 1000000 iT ire QODORIE ik OF AMES me DA EF BF BF EF BF BF EF BF BF CO OO CO 1000000 AT ire DOODBORES bec 0177085023 me DSA EF BF BF EF BF BF EF BF BF CQ OO 00 10000 i ime DDGDECBA Irt O1 7 058 073 me MSA EF BF BF EF BF BF EF BF BF OU OD 00 1000000 Figure 13 SiRF console view While the SiRF console is active you can access the AT Firmware settings dialog with the menu entry GPS xS1 gt Settings or you press the knob symbo
29. nual blox ag uint32 uint32 uint32 uint32 float float float float short short UBYTE UBYTE UBYTE UBYTE AT Triggers struct Latl Lonl Lat2 Lon2 Speed Radius Res 4 Flags modem config typedef struct UBYTE UBYTE UBYTE UBYTE UBYTE UBYTE UBYTE UBYTE UBYTE UBYTE UBYTE UBYTE AT_Modem_struct OnPulsLen OffPulsLen OnWait OffWait OffCmd 10 OnTime Reserved0 Reservedl misc config typedef struct UBYTE ULONG UBYTE UBYTE UBYTE PIN 11 Flags GPIO out GPIO init Res 8 GSM Phone Number Struct CRegTimeout CRegOffTime TimerPeriod0 TimerPeriodl SpeedPeriod AreaPeriod GPIOTrigger0 GPIOTriggerl scale 1 scale 10m if zero the pin is high while the modem should be on if zero soft off is used time after on pulse before first command is sent time to wair after off pulse soft off at command timeout in s 10 after failed gsm registration in min wait this time after CRegTimeout stays on this time after an action reserved for future use reserved for future use PreRegInit INIT SCRIPT LENGHT PostRegInit INIT SCRIPT LENGHT only GPIOs 0 7 are supported for online setting SCA GSM Phone Number Struct Host PHONE NUMBERS JAT General struct all config typedef struct AT_General_struct AT_Modem_struct AT_Triggers_struct
30. ocol The following chapter describes the protocols which the AT Firmware uses to communicate with hosts The protocol consists of a message ID and the length followed by the data After the data a next message can start or zero terminates the transmission sequence see Table 11 Message Payload Payload Message Payload Payload Message ID Length ID Length ID 0x01 0x20 0x20 Bytes data 0x80 0x10 0x10 Bytes data 0x00 Table 11 Host protocol This protocol is used for SM S and data connections It is possible to send several requests in one message GPS G1 X 00001 P1 Page 14 AT Command Set Option User s M anual blox ag B Configuration E Protocol Figure 8 Host protocol Cmd Name Remark ID 0x01 Data request An event is generated with the given action DPs Host and Flags 0x02 Data request Push to fix mode data request After this request the module will reset and as soon asthe first navigation solution is available an event is generated with the given action DPs Host and Flags Reply to sender is not supported in this case 0x20 Change Trigger Settings One or more trigger settings are changed Settings are not stored into flash memory 0x21 Change Event Configuration Configures an event Settings are not stored into flash memory 0x22 Set Low Power Mode Sets low power mode 0x23 GPIO set mask Sets or clears the gpios which are configured as outputs 0x8
31. onfiguration for the external event If a configuration is sent within message 0xC304 this transmitted configuration will replace the predefined configuration of the external event in the AT firmware External Event message Field Name Type Length bytes Value Remark ID Word 2 0xC304 Reserved Byte 1 0x01 Must be 0x01 Total length 3 External event message with configuration Field Name Type Length bytes Value Remark ID Word 2 0xC304 Reserved Byte 1 0x01 Must be 0x01 Action Byte 1 Data packet IDs Bytes 8 Host number Byte 1 1 4 Flags Byte 1 Currently not supported Total length 14 Get configuration Msg ID 0xC305 Message 0xC305 polls configuration or user data packets The data identifier specifies what is sent Field Name Type Length bytes Value Remark ID Word 2 0xC305 Data identifier Byte 1 0 poll configuration 1 poll user data packets Total length 3 GPS G1 X 00001 P1 Page 11 AT Command Set Option User s M anual U blox ag Set AT mode Msg ID 0xC306 Message 0xC306 sets the AT firmware mode Should be used only to switch back from online to data mode Most of the transitions between the modes are invalid and are therefore not executed Field Name Type Length bytes Value Remark ID Word 2 0xC306 New mode Byte 1 0 Normal mode 1 AT mode 2
32. online to data mode 0xC307 Save configuration Saves the actual configuration into flash memory 0xC308 Sense message Answer to the sense message during an online connection answer Table 9 Input Messages Status request Msg ID 0xC301 The AT firmware will answer with output message ID 1 which contains status information of the AT firmware GPS G1 X 00001 P1 Page 10 AT Command Set Option User s M anual U blox ag Field Name Type Length bytes Value Remark ID Word 2 0xC301 Total length 2 Set configuration Msg ID 0xC302 Message 0xC302 can either set the configuration or the user data packets The data identifier field has to be set accordingly The structure of the configuration and the user data packets is show in appendix B Field Name Type Length bytes Value Remark ID Word 2 0xC302 Data identifier Byte 1 0 configuration x 520 1 User data packets x 544 Data X Total length 3 X AT command Msg ID 0xC303 Message 0xC303 lets you send a AT command directly to the modem This message is for testing purposes and should not be used in normal operation Field Name Type Length bytes Value Remark ID Word 2 0xC303 AT command X Total length 24x External event Msg ID 0xC304 Message 0xC304 causes an external event in the AT firmware The message can be sent with or without a c
33. rial Number max 60 A string containing the serial number of the module Total Var Table 5 Serial Number Packet ID 62 Packet ID63 is a Data Packet that contains Lat Lon Alt in 7bit coded ASCII This is used for the demo message 3 4 Configuration Configuration is set over a serial port in SiRF Binary Protocol and is stored in SRAM As long as a backup battery is connected the configuration is kept If the backup battery is empty the configuration from the flash memory will be used Storing a configuration to flash memory is not supported in low power modes Configuration can be done using the demo software u Tracker see Chapter 5 The configuration for each event consists of the action 0 8 data packet IDs and the host phone number The host numbers are stored separately and are referred to as host 1 4 The packet IDs are used only if the action is Data SMS All other actions ignore the IDs 3 4 1 General Settings If the modem is switched on and cannot register in a GSM net within the time specified by Search Timeout the modem is turned off and stays off for Off Time After successfully registering at the net and performing its actions the modem will stay on for On Timeout before being turned off Each new event will restart On Timeout Registration status is checked every 30 seconds The loss of the registration starts Search Timeout In this case Search Timeout and On Timeout run parallel
34. s for the modem to stay off after a search timeout GPIO You can select which GPIO should be used as trigger inputs GPIO 0 7 can be configured as outputs Table 6 Miscellaneous settings 3 4 2 GSM Modem Specific Settings There are different settings to support a wide range of GSM modules Setting Range Remark On Pulse Length 0 30s Pulse length of the On Pulse If set to zero the power pin is high as long as modem power should be on Off pulse length 0 30s Length of the Off pulse If zero no pulse is generated and the soft of command is used Soft off 10 characters Some modem support a proprietary command to turn off the command modem Wait after on 0 30s Time to wait after on pulse Some modems need some time to pulse startup Wait after off 0 30s Time to wait after off pulse pulse Pre Registration 100 Bytes A sequence of initialization commands that is executed after the pin Init Script has been entered Post Registration 100 Bytes A sequence of initialization commands that is executed as soon as Init Script the modem is registered in a net Table 7 Modem dependent settings 3 5 Protocols 3 5 1 Configuration Protocol The control and communication with the AT command firmware is performed using the serial interface All messages are in SiRF Binary Protocol see protocol specification Input and output messages start with SiRF ID 195 0xC3 which is followe
35. t Lon2 The distance to the last position 04 Movement is above the adjusted value Distance m 0 320000m The velocity is above the 05 Speed adjusted value The trigger is Velocity m s 1 500m s p repeated if speed remains Repetition time s 0 2 600 000s above the adjusted value id GPIO 2x High level for at least 1 second GPIO number 0 11 09 External SiRF protocol message None 10 Internal Eu e if a SMS request is None Table 1 Events 3 2 Actions Action can be assigned to the different events Any Action consists of one out of four possible phone number and the data which shall be sent ID Action Description Remark 01 Data SMS Send a Short M essage in PDU Mode 8 bit data SMS 02 Data Call Initiate a data connection 03 Voice Call Initiate a voice connection 04 RX Turn on GSM Table 2 Actions 3 2 1 Data SMS The action Data SMS sends a short message to a host number The content of the message is defined in the event configuration SMS can be sent during a voice call but not during a data call For details on the data to be sent in an SMS see chapter 3 3 3 2 2 Data Call The action Data Call opens a data connection to a host There are two modes used for data calls Not supported by the GPS PS1E AT GPS G1 X 00001 P1 Page 6 AT Command Set Option User s M anual U blox ag Data mode As soon as the connection is established
36. trigger tab to 500m Select the movement event in the action tab Choose Send SM as action and host 0 as destination Enter 64 as the first packet ID Go back to the general tab and press the set configuration button 6 3 Send a position and an identification string if a button is pressed Connect the button to a GPIO and specify this GPIO in the trigger tab Select GPIO trigger 0 send SM and host 0 in the action tab Packet 64 stores the position at the time the button is pressed Take packet 64 as the second packet for the identification string The content of packet ID 128 can be set in the data tab Select the ID 128 and enter the user data in ASCII or hexadecimal Go back to the general tab and press the set configuration button 6 4 Voice connection and position via SMS if a button is pressed Connect the button to two GPIO and specify these GPIO in the trigger tab Select GPIO trigger 0 send SM and host 0 in the action tab Packet 64 stores the position at the time the button is pressed Select GPIO trigger 1 voice call and host 1 in the action tab Go back to the general tab and press the set configuration button If you press the button now an SM will be sent and after that the voice connection will be opened While the voice connection is up SM send and poll will work 6 5 Online tracking if a certain area is entered First define your area in form of upper and lower latitude and longitude GPS G1 X 00001 P1 Page 24
37. vents triggers may be the output of the GPS engine position time or an external signal If the conditions for a trigger are met the assigned action will be performed This assignment is set during the configuration of the GSM controller Triggers Events Actions GPS Output Call GPIO Triggers Send SM Figure 2 Triggers and Actions This document describes the commands and protocols used for the configuration and control of the AT command firmware See Chapter 3 5 the possible functions of the firmware and the data transmitted See chapter 3 In order to provide an easy and fast possibility to configure the module we offer the u Tracker PC software available from our WWW Pages The GPS MS1E and GPS PS1E with the AT option will be referred to as GPS MSIE AT and GPS PSIE AT respectively GPS G1 X 00001 P1 Page 5 AT Command Set Option User s M anual blox ag 3 FUNCTIONALITY OF THE AT FIRMWARE 3 1 Triggers and Events A trigger is assigned to each event Table 1 contains all triggers with their parameters ID Event Trigger Condition Parameters Range bo Timer 2x Time interval elapsed Interval s 30 2 600 000s Latitude 1 Latitude 2 180 180 The position is either in or Longitude 1 Longitude 2 90 90 03 l Area outside a spherical rectangle Inside Outside The trigger is repeated if the Repetition time s 0 2 600 000s position remains in outside Note Lat1 gt Lat2 and Lon1 g
38. x04 Area 0x08 Movement 0x10 Speed See Table 23 Table 14 Change Trigger Settings Command 0x20 3 5 3 3 Change Event Configuration Command 0x21 The Change Event Configuration sets a new configuration for an event Field Name Type Remark Length bytes Length Byte 1 Event Byte Event Configuration Total Length STRUCT 1 12 15 See Table 25 3 5 3 4 Set Low Power Mode Command 0x22 This command sets the low power mode Field Name Type Length Remark bytes CMD ID Byte 1 Length Byte 1 PushToFix Byte 1 If set to 1 Push to Fix mode is enabled M ust be zero for continuous or trickle power mode Duty Cycle Byte 1 Duty Cycle in percent If Duty Cycle is greater than 5096 continuous mode is activated RF on time Byte 1 RF on time in 10ms steps 200ms 20 Total Length 5 3 5 3 5 Set Outputs Command 0x23 The pins which are configured as outputs are set high or low Field Name Type CMD ID Byte Length Byte Total Length Byte Remark Bitmask which is applied to the outputs 3 5 3 6 Request Online Mode Command 0x80 This command will put Sirf protocol output on the data connection Field Name Type Length bytes CMD D e i1 LLL Length Be 1 OSOSOSCSCSOSSCCS 2 Total Length 3 5 3 7 Request Terminate Connection Command 0x81 This command will close the data connection GPS G1 X 00001 P1 Page 16 AT Command Set Option User
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