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More trueposition commands #7

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c236a64
More trueposition commands
robots Jun 14, 2020
6580e34
more documentation
robots Jun 17, 2020
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95 changes: 79 additions & 16 deletions GPSDO_commandset.h
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Original file line number Diff line number Diff line change
Expand Up @@ -13,22 +13,84 @@
// $PPSDBG <0|1> [Enable or disable timing information every second]
// $RESET [Unit software reset]
// $SETBDELAY <n> [-32 <= n <= 32, Set board delay, PPS4 units (roughly 5 or 6 ns). PPS4 is controlled to equal this value]
// $SETDELAY <n> [-32768 <= n <= 32767Set cable delay, nanoseconds]
//
// $SETDELAY <n> [-9999 <= n <= +9999 Set cable delay, 0.1us unit (100ns)]
// Writes 1PPS correction to furuno using $PFEC,GPset,t-%06d
//
// $SETPOS <n> <n> <n> [set position to Lat/Long/Elevation_MSL, send value returned by survey]
// $SURVEY <n> [survey for n hours, default is 8]
// $SURVEY <n> [survey for n hours, default is 8, 1<=n<=49]
// $TRAINOXCO [Start OXCO Training. This restarts the board ($PROCEED needed), and measures freq
// change with 500 ADC count. See result with $GETSCALINGFACTOR.]
// $UPDATE FLASH [update flash memory settings]
// this executes $FACT command.
//
// Other unknown commands:
// $GETA [returns -1; Attenuator?]
// $GETP [returns -1 255; Potentiometer?]
// $SET1PPS ["$SET1PPS 0"/"$SET1PPS 1"] seems to go to a manual holdover mode, and status changes to 3]
// [Seems to return to normal a few minutes after "$SET1PPS 1 1"??? (Status goes 8,16,17,18,0]
//
// $SET1PPS x y
// This formats GPrrs message for Furuno - $PFEC,GPrrs,x,100,y
// x - 0 = traim off, 1 = traim on
// y - 0-nopps output, 1-always output pps, 2-output in ordinary way, 3 - output only when sufficient satellites are tracked
// Internally they use "$SET1PPS 1 1" and "$SET1PPS 1 3"
//
// $SETGAIN <n> [Sets gain Parameter, n is integer, in hundreths. Maybe a multiplication factor for the DAC adjustment.]
//
// $ESN xxx
// programs serial number to xxx
//
// $REPORT [x [y [z]]]
// set reporting time (optional)
// x - time report period (in sec), this controls $CLOCK message
// y - sat report (on/off), control sending of $SAT, $WSAT
// z - state report period (in sec), $STATUS and $EXTSTATUS
// reports all SAT and WSAT messages stored in mcu if reporting enabled
//
// $SETINTG num
// sets integrator ?
//
// $SETOFFSET num
// sets DAC offset - this is not persistent, and will not survive reboot
//
// $SPIW num
// writes num into DAC - manual osc tunning ? (probably needs manual holdover)
//
// $FxRxxH
// if state == 0 set state = 4
// else if state == 4 set state = 20.
// Toggle forced holdover
//
// $FxRxxU
// get leap second from config saved in flash, when no leap second from GPS is available
//
// $JAM
// Jam sync - whatever that means
//
// -------- messages to communicate with GPS receiver:
//
// $EBG *
// copy all messages from GPS port to communication port (0 to turn off)
//
// $Fxxx
// sends nmea message to GPS
// xxx needs to start with $ (eg: $F$PFEC....)
//
// $ELOAD - gps firmware loading ... dont bother
// $AGP - agps load
//
// ---- other debug commands:
// $EBG x - engine debug 0 = disable *=all?
// $XBG x - console clone (whatever that is)
// $RBG x - raw debug
// $CBG x - command debug
// last 3 debugs are only for jtag uart, they dont change output for comm port
//
// unknown commands:
// $TRAIM x - disables traim evaluation in gpsdo? 0 - skips some computation internally

// Messages:
// Response Messages:
// $UPDATE FLASH
// parameters in flash have been updated.
//
// $STATUS
// 1: (Maybe 10 MHz bad, based on packrat docs)
// 2: (Maybe PPS bad, based on packrat docs)
Expand All @@ -45,27 +107,28 @@
// $PPSDBG 2 0.0 [Fewer parmaters when in holdover?]
// 1: same as clock (GPS Time)
// 2: Same as $STATUS status, but updates much more often (and seems to skip states less often)
// 3: Floating point number. Output voltage. Tends towards 29e3 on my board. Proportional to the DAC voltage
// 3: Floating point number. DAC set value. Tends towards 29e3 on my board. Proportional to the DAC voltage
// On my RevC CTS board, Vbias ~= 6.25e-5*PPS3. This may make sense for a 4.096 V reference: 4.096/2^16=6.25e-5
// During startup, it is not put in the result string (this field is blank, so two sequential space characters are in the string)
// 4: Measured phase offset? Units seem something like 6.5*ns
// 5: Looks like a saw-tooth between -15 and 15 (or so). Perhaps the quantization error reported by the GPS module?
// 6: Normally 0, but sometimes 2 (related to holdover/startup?)
// 7: Normally 0, but sometimes 1 or 2 (related to holdover/startup?)
// 8: Always 0.0?
// 5: PPS offset from $PFEC,GPrrm message - range from -15 to +14
// 6: PPS status from $PFEC,GPrrm message
// 7: TRAIM status from $PFEC,GPrrm message
// 8: Always 0.0 - temperature on 12.1.1 firmware
//
// $EXTSTATUS
// 1: SurveyStatus [0=normal, 1=surveying]
// 2: Number of sats (different than, but within 2 of $STATUS, perhaps only counts channels 0-9, range is 0-10)
// 3: DOP (maybe TDOP?)
// 2: Number of sats used for positioning, copied from $GPGGA message
// 3: HDOP if 2Dfix, PDOP if 3D fix, copied from $GPGGA message
// 4: Temperature (close to FPGA? close to oven?) (my board reads about 45C)
// 5: gps discard counter - error related ?
//
// $GETPOS (sent after setting position, or requesting position
// Latitude
// Longitude
// Elevation_MSL
// Correction to MSL to get WGS elevation (add this value to MSL to get WGS ellipsoid)
// Status flag [(Normal?)=0 on 196 board or =2 on Bliley board, Surveying=3], or maybe a FOM?
// Traim status from GPS. From Furuno GPrrm msg (0 = possible to detect and remove abnormalities, 1 = possible to detect, 2 = not possible to detect)
//
// $SURVEY 40448488 -86915296 225 -34 7129
// [sent during a survey]
Expand Down Expand Up @@ -118,5 +181,5 @@
// Resets to 0 at time of lock (and at end of holdover).
// 5: Floating point. Smoothed version of PPS3, seems like ~6.5*(PPS phase in ns)?
// Resets to 0 at time of lock (and at end of holdover).
// 6: Flag, always zero?
// 7: Flag, always zero?
// 6: always zero
// 7: always zero