iXBlue Octans User manual

AHRS
Advanced Configuration
User Guide

AHRS - Advanced Configuration - User Guide
MU-AHRS-AN-002 Ed. E November 2015 1
Document Revision History
Edition Date Comments
A 09/2011 First Edition
B 03/2012 iXBlue graphical chart applied to the document
C 01/2015 OCTANS NANO product added
Appendice B added
D 03/2015 New style guide updated to the document
E 11/2015 Input and output protocols lists updated

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Copyright
All rights reserved. No part of this manual may be reproduced or transmitted, in any form
or by any means, whether electronic, printed manual or otherwise, including but not
limited to photocopying, recording or information storage and retrieval systems, for any
purpose without prior written permission of iXBlue.
Disclaimer
iXBlue specifically disclaims all warranties, either expressed or implied, included but not
limited to implied warranties of merchantability and fitness for a particular purpose with
respect to this product and documentation. iXBlue reserves the right to revise or make
changes or improvments to this product or documentation at any time without notify any
person of such revision or improvments.
In no event shall iXBlue be liable for any consequential or incidental damages, including
but not limited to loss of business profits or any commercial damages, arising out of the
use of this product.
Trademarks
Microsoft, MS-DOS and Windows are registered trademarks of Microsoft Corporation.
Intel and Pentium are registered trademarks and Celeron is a trademark of Intel
Corporation.

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Text Usage
bold
Bold text is used for items you must select or click in the
software. It is also used for the field names used into the dialog
box.
Courier
Text in this font denotes text or characters that you should enter
from the keyboard, the proper names of disk Drives, paths,
directories, programs, functions, filenames and extensions.
italic
Italic text is the result of an action in the procedures.
Icons
The Note icon indicates that the following information is of particular interest and should
be read with care.
Important
The Important mention indicates that the following information should be read to forbid or
prevent a product dysfunction or a faulty operation of the equipment.
The Caution icon indicates that the following information should be read to forbid or
prevent product damage.
The Warning icon indicates that possible personal injury or death could result from failure
to follow the provided recommendation.
Abbreviations and Acronyms
Abbreviations and acronyms are described in document Inertial Products - Principle &
Conventions (Ref.: MU-INS&AHRS-AN-003).

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Overview of this Document
This document is the Advanced Configuration User Guide for the Attitude and Heading
Reference Sensor (AHRS). This document is a part of the set of documentation provided
with the AHRS. The set of documentation must be read and understood prior to using the
AHRS.
The manufacturer shall in no case be held liable for any application or use that does not
comply with the stipulations in this guide.
AHRS – Advanced Configuration - User Guide is divided into several parts:
•Part 1: Introduction – This part introduces the commands describes in this user
guide.
•Part 2: Version of Products Concerned – This part lists all the products and the
firmware version associated to which this user guide applies. This section lists the
availability of the commands depending on the products.
•Part 3: General Conventions – This part describes command syntax and how to send
and receive commands.
•Part 4: General System Configuration – This part lists the available commands to
configure the AHRS.
•Part 5: Interfaces Configuration – This part describes commands to configure serial
or Ethernet ports and analog Inputs and Outputs (I/O).
•Part 6: Dynamic String Retrieve Commands: This part describes commands to
retrieve all configuration strings to dynamically get firmware feature list.
•Appendix A: NMEA Checksum Web Page – This appendix gives a mean to calculate
the checksum (“hh” parameter) required in all transmitted sentences.
•Appendix B: Factory Setting Details – This appendix details the factory default
settings.
A Table of Contents is available in the following pages to allow a quick access to
dedicated information.

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Table of Contents
1INTRODUCTION..............................................................................................................6
2VERSION AND PRODUCTS CONCERNED ..........................................................................7
3GENERAL CONVENTIONS ...............................................................................................8
3.1 COMMAND SYNTAX .....................................................................................................................8
3.2 HOW TO SEND AND RECEIVE COMMANDS.....................................................................................8
4GENERAL SYSTEM CONFIGURATION...............................................................................9
4.1 SAVE TO EEPROM.....................................................................................................................9
4.2 SOFTWARE SYSTEM REBOOT ......................................................................................................9
4.3 WEB MMI PASSWORDS RESET....................................................................................................9
4.4 MANUAL POSITION AND SPEEDS..................................................................................................9
4.5 AXIS ORIENTATION....................................................................................................................10
4.6 HEADING,ROLL AND PITCH ANGULAR OFFSETS..........................................................................12
4.7 MAIN LEVER ARM .....................................................................................................................13
4.8 SECONDARY LEVER ARMS ........................................................................................................13
4.9 CENTER OF GRAVITY POSITION..................................................................................................13
4.10 HEAVE PARAMETERS ................................................................................................................14
4.11 UTC (TIME SYNCHRONIZATION)INTERFACE ...............................................................................14
5INTERFACES CONFIGURATION......................................................................................15
5.1 PORT MAPPING AND ID..............................................................................................................15
5.2 SERIAL AND ETHERNET COMMANDS ..........................................................................................16
5.2.1 Serial I/O General Parameters (Parity, Stop Bit, Level, Baudrate)....................................16
5.2.2 Serial/Ethernet Input Port Configuration............................................................................17
5.2.3 User Defined Output Protocol............................................................................................18
5.2.4 Serial/Ethernet Output Port Configuration.........................................................................18
5.2.5Output Device Selection ....................................................................................................20
5.2.6 Input Device Selection.......................................................................................................20
5.3 ETHERNET CONFIGURATION ......................................................................................................21
5.3.1 Network Setup Command..................................................................................................21
5.3.2 IP Output Configuration .....................................................................................................21
5.3.3 IP Input Configuration........................................................................................................22
5.4 PULSES INTERFACES.................................................................................................................23
5.4.1 Input Pulses .......................................................................................................................23
5.4.2 Output Pulses ....................................................................................................................23
6DYNAMIC STRING RETRIEVE COMMANDS......................................................................24
6.1 GENERIC TEXT RETRIEVE COMMAND .........................................................................................24
APPENDICES.....................................................................................................................26
ANMEA CHECKSUM WEB PAGE ....................................................................................26
BORIENTATION AND SIGN CONVENTIONS RECALL ............................................................27
CFACTORY SETTING DETAILS.........................................................................................28

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1 INTRODUCTION
This document describes the Attitude and Heading Reference Sensor (AHRS)
configuration and monitoring commands which can be used during operation. These
commands are sent directly through the repeater port to check settings and modify AHRS
or external sensors configuration (depending of the external sensor and of the AHRS
capabilities), to reset the unit, and save the configuration to PROM.
Full configuration of the AHRS, prior to operation, requires the use of the Web-based User
Interface.
However, commands described below are exactly equivalent to the ones which are sent
by the Web-based User Interface. They may be useful when launching and using the
Web-based User Interface during operation is not possible.

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2 VERSION AND PRODUCTS CONCERNED
The current edition of this document is applicable to the following 4th generation AHRS:
Table 1 – List of products and firmware
Product Firmware version
OCTANS higher than FrmWCINT_OCT_v3.87 version
OCTANS 3000
OCTANS NANO higher than FrmWCINT_INS_v5.64 version
Refer to section 6.1 to check the firmware version currently downloaded into your unit.
Several commands described in this manual are associated with specific external
sensors that may not be available on your product. Please, refer to your Product User
Manual to check which external sensors are available.
Contact iXBlue customer support to get the updated firmware version to be downloaded
into your system (see document: Inertial Products - General Information (Ref.: MU-
INS&AHRS-AN-007) for contact information).

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3 GENERAL CONVENTIONS
3.1 Command Syntax
All frames are compatible with NMEA 0183 standard and are formatted as follows:
$CMD[,xxx,…,…y*hh<CR><LF> for configuration commands
$PHTXT,CMD[,xxx,…,..y]*hh<CR><LF> for configuration text retrieve commands
$ is a header and “CMD” depends on the command
Brackets [ ] indicates optional parameters, depending on the command. Most commands
can be used either to send configuration parameters “xxx,…,..y” to the system, or to ask
for the current value for the parameter. In such case, the “,xxx,…,..y” should be replaced
by “,,”.
“hh” is the checksum of the sentence, and allows for a control during the transmission. It is
calculated by exclusive-OR’ing (XOR) the 8 bits (no start bits or stop bits) of each
character in the sentence, excluding “$” and “*”. The hexadecimal value of the most
significant and least significant 4 bits of the result are converted to two ASCII (0-9, A-F) for
transmission. The most significant character is transmitted first.
The checksum field is required in all transmitted sentences. All frames should be ended by
the two characters <CR><LF> (0D 0A hexadecimal).
A Web based NMEA calculator is given in Appendix A to help computing checksums.
3.2 How to Send and Receive Commands
The AHRS will listen for COMMAND protocol on repeater port.
On repeater port, serial configuration is fixed and set to 19200 bauds, odd parity bit, 2
stop bits. Repeater port will also output OCTANS STANDARD protocol. Answers to
commands sent to this port will thus be mixed in OCTANS STANDARD output frames
(refer to AHRS Interface Library (Ref.: MU-AHRS-AN-003) for details).
If a command is not correctly formatted, the AHRS will ignore it and no answer will be
sent. If a parameter is out of allowed range, it will be ignored by the AHRS and set to
default value (0 or none). Thus, to confirm that a command was correctly handled by the
AHRS, the control application should systematically send the command to change a
parameter, and then send the read back command to check stored value. After all
changes are made, the application can send a SAVE command to store parameters in
non volatile memory inside the AHRS.

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4 GENERAL SYSTEM CONFIGURATION
4.1 Save to EEPROM
To save all parameters into EEPROM:
Message $PHSAV,,*5C<CR><LF>
Title Save Configuration to EEPROM
4.2 Software System Reboot
To reboot the system by software:
Message $PHST_,RESET,,*39<CR><LF>
Title Restart AHRS algorithm
Warning
Unit will restart with the configuration saved into PROM. It is recommended to perform a
save to PROM command (see section 4.1) before resetting if you changed the settings
and want to keep them.
4.3 Web MMI Passwords Reset
To reset Web MMI passwords, following command can be used:
Message $PIXSE,CONFIG,PWDRST*4B<CR><LF>
Title Reset Web-based User Interface Passwords
There is no password any more once this command is used.
4.4 Manual Position and Speeds
To enter manual position and speed:
Message $PHMAN,x.x,y.y*hh<CR><LF>
Title Manual Position
Data Field
Semantics
Unit
Type
x.x
Latitude, positive north
Degree
Float
y.y
Speed
knots
Float
To retrieve current manual position and speed:
$PHMAN,,*5A<CR><LF>

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4.5 Axis Orientation
To enter an axis orientation (rough misalignment):
Message $PHORI,i*hh<CR><LF>
Title Axis Orientation
Data Field
Semantics
Syntax
Type
i Index of the rough misalignment See
Table 2 for index/orientation
correspondence and checksums
int
To retrieve the axis orientation – also called the rough misalignment –:
$PHORI,,*4C<CR><LF>
Important
Please: check logo and connector positions in the following table.
Table 2 - Matching between index i and AHRS axis orientation with associated checksum (hh)
i (hh) Orientation (Surface) Orientation (Subsea) i (hh) Orientation (Surface) Orientation (Subsea)
0
(50)
1
(51)
2
(52)
3
(53)
4
(54)
5
(55)

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i (hh) Orientation (Surface) Orientation (Subsea) i (hh) Orientation (Surface) Orientation (Subsea)
6
(56)
7
(57)
8
(58)
9
(59)
10
(61)
11
(60)
12
(63)
13
(62)
14
(65)
15
(64)
16
(67)
17
(66)

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i (hh) Orientation (Surface) Orientation (Subsea) i (hh) Orientation (Surface) Orientation (Subsea)
18
(69)
19
(68)
20
(62)
21
(63)
22
(60)
23
(61)
4.6 Heading, Roll and Pitch angular offsets
To configure user angular offsets (fine misalignment):
Message $PHBIA,x.x,y.y,z.z*hh<CR><LF>
Title Angular offsets Configuration
Data Field
Semantics
Unit
Type
x.x
Vehicle X1 rotation offset
Degree
Float
y.y
Vehicle X2 rotation offset
Degree
Float
z.z
Vehicle X3 rotation offset
Degree
Float
To retrieve the angular offsets:
$PHBIA,,*52<CR><LF>

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4.7 Main Lever Arm
To configure main monitoring point lever arm from the AHRS:
Message $PHLEV,x.x,y.y,z.z*hh<CR><LF>
Title Lever Arms Configuration
Data Field
Semantics
Unit
Type
x.x
XV1 lever arm
m
Float
y.y
XV2 lever arm
m
Float
z.z
XV3 lever arm
m
Float
To retrieve main monitoring point lever arms from the AHRS:
$PHLEV,,*47<CR><LF>
4.8 Secondary Lever Arms
To configure secondary monitoring point lever arms from the AHRS:
Message $PHLVx,x.x,y.y,z.z*hh<CR><LF>
Title Lever Arms Configuration
Data Field
Semantics
Unit
Type
x
Lever arm (‘A’, ‘B’ or ‘C’)
N/A
Char
x.x
XV1 lever arm
m
Float
y.y
XV2 lever arm
m
Float
z.z
XV3 lever arm
m
Float
To retrieve secondary monitoring point lever arms from the AHRS:
$PHLVA,,*43<CR><LF>
$PHLVB,,*40<CR><LF>
$PHLVC,,*41<CR><LF>
4.9 Center of Gravity Position
This is not available for OCTANS NANO product.
To configure center of gravity position relative to the AHRS:
Message $PHCNF,COG___,x.x,y.y,z.z*hh<CR><LF>
Title Lever Arms Configuration
Data Field
Semantics
Unit
Type
x.x
XV1 cog
m
Float
y.y
XV2 cog
m
Float
z.z
XV3 cog
m
Float
(please note the 3 underscore(’’_’’) characters after COG header)
To retrieve center of gravity from the AHRS:
$PHCNF,COG___,,*6B<CR><LF>

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4.10 Heave Parameters
This is not available for OCTANS NANO product.
To define the sea state:
Message $PHCNF,HVECNF_,i*hh<CR><LF>
Title Heave Parameters
Data Field Semantics Syntax Type
i Index
0: Slight Sea (<1.2m)
1: Moderate Sea (<2.5m)
2: Rough Sea (>2.5m)
3: Harbors and Channels
int
To retrieve the current sea state mode:
$PHCNF,HVECNF,,*30<CR><LF>
4.11 UTC (Time Synchronization) Interface
To configure the UTC interface (OCTANS interface to receive data from UTC) :
Message $PHCNF,UTCINT,i,j*hh<CR><LF>
Title UTC Interface
Data Field Semantics Syntax Type
i Interface
0: None
1: Port A
2: Port B
…
5 : Port E
int
j (Deprecated) 0 int
To retrieve the UTC interface:
$PHCNF,UTCINT,,*6E<CR><LF>

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5 INTERFACES CONFIGURATION
This section describes commands to configure serial or Ethernet ports.
5.1 Port mapping and ID
The ports mapping from software port identification to physical port identification may
differ for certain product:
•For OCTANS surface, to configure the physical serial input ports A and B use
configuration commands with respectively ports D and E instead.
•For OCTANS surface, to configure the physical ethernet input ports A to D use
configuration commands with respectively ports D to G instead.
•For OCTANS 3000 and OCTANS NANO, to configure an input port use the
related port ID: A up to E.
•For all products, to configure output ports use the physical port ID.

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5.2 Serial and Ethernet Commands
5.2.1 SERIAL I/O GENERAL PARAMETERS (PARITY,STOP BIT,LEVEL,BAUDRATE)
Used to configure the parity and stop bit for serial port X :
Message $PHCNF,RSCM_X,i,j,k,l*hh<CR><LF>
Title Serial interface configuration
Data Field
Semantics
Syntax
Type
X Port
OCTANS:
set A to C to configure output ports A to C
set D to G to configure input ports A to E.
For more explanation, refer to § 5.1.
OCTANS 3000: set A to E to configure Input/Output ports A to E
OCTANS NANO: set A to B to configure Input/Output ports A to B
int
i Parity
0: None
1: Even
2: Odd
int
j Number
of stop bits
0: 0.5 stop bit
1: 1 stop bit
2: 1.5 stop bit
3: 2 stop bits
int
k Level
0: RS232
1: RS422 int
l Baudrate
0: 600bds
1: 1200bds
2: 2400bds
3: 4800bds
4: 9600bds
5: 19200bds
6: 38400bds
7: 57600bds
8:115200bds
9: 230400bds
10: 460800bds
int
To retrieve parity and stop bit for serial port X (checksum hh depends on port X, see
below) :
$PHCNF,RSCM_A,,*6E<CR><LF>
$PHCNF,RSCM_B,,*6D<CR><LF>
$PHCNF,RSCM_C,,*6C<CR><LF>
$PHCNF,RSCM_D,,*6B<CR><LF>
$PHCNF,RSCM_E,,*6A<CR><LF>

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5.2.2 SERIAL/ETHERNET INPUT PORT CONFIGURATION
To configure the input port x:
Message $PHCNF,RSIN_x,i,j*hh<CR><LF>
Title Input port configuration
Data Field
Semantics
Syntax
Type
x Port
(Uppercase)
OCTANS : set D to G to configure ports A to D.
For more explanation, refer to § 5.1.
OCTANS 3000 : set A to E to configure Port A to Port E
OCTANS NANO: set A to D to configure Port A to Port D
char
i
protocol
See Table 3
int
j
RFU
Set this field to 0
int
The RSIN command must be used to select input protocol in Ethernet mode too.
To retrieve configuration of serial input port:
$PHCNF,RSIN_D,,*62<CR><LF>
$PHCNF,RSIN_E,,*63<CR><LF>
$PHCNF,RSIN_F,,*60<CR><LF>
$PHCNF,RSIN_G,,*61<CR><LF>
Table 3 - List and index of input protocols
OCTANS CINT firmware =< 4.00
OCTANS CINT Firmware > 4.00
OCTANS NANO
Index
Protocol
0
NONE
1
DCN_LOCH
2
DCN_NAV1
3
GPS_GGA
4
GPS_VTG
5
GPS_GGA-VTG-ZDA
6
GPS_GLL-VHW
7
GPS_ZDA
8
AMS
9
ISRGVT
10
GPS_GGA-VTG-UTC
11
ALERT_IN
Index
Protocol
0
NONE
1
DCN_LOCH
2
DCN_NAV1
3
STANDARD NMEA
Index
Protocol
0
NONE
1
STANDARD NMEA

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5.2.3 USER DEFINED OUTPUT PROTOCOL
To configure the output port x user defined protocol:
Message $PHCN,RSUDPx,ssss*hh<CR><LF>
Title Output port configuration
Data Field
Semantics
Syntax
Type
x Port
(Uppercase)
OCTANS: set A to C to configure Port A to Port C
OCTANS 3000: set A to E to configure Port A to Port E
OCTANS NANO: set A to E to configure Port A to Port E
char
ssss
protocol
User defined protocol string
string
5.2.4 SERIAL/ETHERNET OUTPUT PORT CONFIGURATION
To configure the serial/Ethernet output on port:
Message $PHCNF,RSOUTx,i,j,k,l,m*hh<CR><LF>
Title Output port configuration
Data Field
Semantics
Syntax
Type
x Port
(Uppercase)
OCTANS: set A to C to configure Port A to Port C
OCTANS 3000: set A to Eto configure Port A to Port E
OCTANS NANO: set A to E to configure Port A to Port E
char
i Protocol
See $PHCNF,RSOUTA,,*71<CR><LF>
$PHCNF,RSOUTB,,*72<CR><LF>
$PHCNF,RSOUTC,,*73<CR><LF>
$PHCNF,RSOUTD,,*74<CR><LF>
$PHCNF,RSOUTE,,*75<CR><LF>
Table 4
int
j Lever arm
0: Main lever arm
1: Secondary lever arm 1
2: Secondary lever arm 2
3: Secondary lever arm 3
int
k Rate Output rate in ms (100 = 100ms = 10 Hz)
Minimum value is 5 ms (200 Hz)
int
l Heave 0: Real Time Heave 1: Smart Heave (100s delayed)
For OCTANS NANO set to 0
int
m ZDA output 0: ZDA not outputted
1: ZDA outputted
int
To retrieve configuration of serial output port:
$PHCNF,RSOUTA,,*71<CR><LF>
$PHCNF,RSOUTB,,*72<CR><LF>
$PHCNF,RSOUTC,,*73<CR><LF>
$PHCNF,RSOUTD,,*74<CR><LF>
$PHCNF,RSOUTE,,*75<CR><LF>
Table 4 - list and index of output protocols