These commands are sent to the IRM ARP by writing to the IRM control input channel: on UDP port on Window, and pipe on Linux.
$pglirm,req_pos,name,period,N1,fixcount,N2,validfix,N3,duration_sec,N4
Creates periodic position request
- name - Unique request identifier. Used by GLHAL to output NMEA data
- period - Update period in milliseconds
- fixcount - Stop after that number of fixes (valid or invalid) reported
- validfix - Stop after that number of valid fixes reported
- duration_sec - Stop after that many seconds
- PeriodicTimeOutSec - If no fix after these number of seconds, open the accuracy mask until there is a fix. Then restore the accuracy mask.
- Use "smA1" through "smA4" to set the four SmartMask accuracy array elements
- Use "smT1" through "smT7" to set the seven SmartMask timeout array elements
- Example: smA1,13,smA2,47,smA3,250,smA4,350,smT1,20,smT2,30,smT3,40,smT4,50,smT5,60,smT6,70,smT7,100
$pglirm,req_meas,name,period,N1,fixcount,N2,validfix,N3,duration_sec,N4,acc,N5
Creates periodic measurement request
$pglirm,req_pos_single,name,my_name,acc,N1,timeout,N2
Creates single shot request,
- name - Unique request identifier, it also used by GLHAL to output NMEA data
- acc - Accuracy QoS parameter
- timeout - Timeout QoS parameter
Use "smA1" through "smA4" to set the four SmartMask accuracy array elements
- Use "smT1" through "smT7" to set the seven SmartMask timeout array elements
- Example: smA1,13,smA2,47,smA3,250,smA4,350,smT1,20,smT2,30,smT3,40,smT4,50,smT5,60,smT6,70,smT7,100
$pglirm,req_meas_single,name,acc,N1,timeout,N2
Creates single shot measurement request,
$pglirm,req_aid,name
Queries what assistance data is missing
- name - Unique request identifier, it also used by GLHAL to output NMEA data
$pglirm,factory,test,prn,17,timeout,16,GL_FACT_TEST_MODE,GL_FACT_TEST_CONT,GL_FACT_TEST_ITEMS,GL_FACT_TEST_WER
Creates Factory request,
- test - Unique request identifier, it also used by GLHAL to output NMEA data
- prn - PRN number
- timeout - How long to run test for
- GL_FACT_TEST_MODE - Test mode [GL_FACT_TEST_ONCE|GL_FACT_TEST_CONT]
- GL_FACT_TEST_ITEMS - What to test GL_FACT_TEST_CN0|GL_FACT_TEST_FRQ|GL_FACT_TEST_WER|GL_FACT_TEST_ACQ
$pglirm,startup,{[ignore_osc|ignore_nav|ignore_rom_alm|ignore_pos|ignore_ram_alm|ignore_time|ignore_lto],[true|false]}
Tells to ignore specified elements of the data previously stored in nonvolatile storage
$pglirm,startup,osc_age_sec,7200,osc_unc_ppb,1234,pos_age_sec,1234,pos_error,true,rtc_error_ms,1234
Additional startup settings in the IRM to match the BRM:
- rtc_error_ms - Add time to the RTC.
- osc_age_sec - Set the age of the oscillator. The maximum is 40 weeks.
- osc_unc_ppb - Set the oscillator uncertainty.
- pos_age_sec - Set the position age.
- pos_error - induce a random position offset.
$pglirm,clear,{[ignore_osc|ignore_nav|ignore_rom_alm|ignore_pos|ignore_ram_alm|ignore_time],[true|false]}
Clear NVRAM.
$pglirm,stop,name
Stops ongoing request with a name "name"; The name "all" is reserved to stop all ongoing requests
$pglirm,quit
Causes application to exit
$pglirm,abort
Causes application to abort
$pglirm,pwm,[on|off]
Turns auto power management on or off
$pglirm,ref_time,week,282,tow,123456
Set the GPS time.
$pglirm,ref_time,week,282,tow,123456,unc_ms,1234
Set the GPS time with time uncertainty of 1.234s.
$pglirm,clk_unc_change,unc,300
Indicate that the TCXO uncertainty has increased.
$pglirm,pps,1,22,33
Enable PPS output: offset 22us, width 33ns
$pglirm,pps,0
Disable PPS output.
$pglirm,req_gps_data
Start a GPS data request.
$pglirm,req_gps_data,alm
Start an almanac data request.
$pglirm,req_gps_data,130
Start a GPS data request with mask 0x82 (GL_GPS_DATA_ALM + GL_GLONASS_DATA_ALM). See GL_GPS_DATA for a complete list of the bits.
$pglirm,flight_mode,1
Set flight mode. Use 0 to disable flight mode.
$pglirm,set_aid,<TYPE>,<PARAMS>
Set position or frequency aiding. Examples: $pglirm,set_aid,pos,Lat,12.34,Lon,56.78,Alt,11.2,HorAcc,3.4,VerAcc,5.6,AgeSec,12345 $pglirm,set_aid,freq,offst_ppb,1234,unc_ppb,5678 $pglirm,set_aid,freq,offst_age_sec,9876 $pglirm,set_aid,freq,grow_ppb,-22
$pglirm,clk_unc_change,unc,2000
Change TCXO clock uncertainty. Range is 1 to 2000ppb.
WinXP Notes
- To use the IRM commands with the WinXP demo application we included set of the batch files that can be used to send these commands. The batch files can be found in allPartners/deliverables/glgpsapp/win_xp/scripts folder. The Cygwin nc utility must be installed in order for these batch files to work.