Quectel L70 Installation instructions

GNSS SDK
Commands Manual
GNSS Module Series
Rev. GNSS_SDK_Commands_Manual_V1.4
Date: 2017-07-21
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About the Document
History
Revision
Date
Author
Description
1.0
2015-09-11
Hyman DING
Initial
1.1
2016-01-18
Connie ZHOU
Added the current supported SDK commands in
Table 1.
1.2
2016-05-20
Simon HU
1. Added the following new commands:
PQECEF, PQODO, PQPZ90, PQGLP,
PQVEL.
2. Added L76 and L76-L in Table 1.
3. Added the Chapter 3:Appendix References.
1.3
2016-08-15
Simon HU
1. Added L26 in Table 1.
2. Improved the function of PQODO to enable
initial distance setting.
1.4
2017-07-21
Matt YE/
Simon HU
1. Updated notes for PQODO in Chapter 2.8
2. Added the following new commands:
PQJAM (Chapter 2.12)
PQRLM (Chapter 2.13)
PQGEO (Chapter 2.14)
PQPREC (Chapter 2.15)
PQGBS (Chapter 2.16)
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Contents
About the Document...................................................................................................................................2
Contents.......................................................................................................................................................3
Table Index...................................................................................................................................................4
1Introduction..........................................................................................................................................5
2Quectel NMEA Packet Protocol..........................................................................................................7
2.1. Quectel NMEA Packet Format ..................................................................................................7
2.2. PQBAUD Change NMEA Port Default Baud Rate .................................................................8
2.3. POEPE Enable/Disable PQEPE Sentence Output ................................................................8
2.4. PQ1PPS Set the Type and Pulse Width of 1PPS Output.......................................................9
2.5. PQFLP Set the Module into FLP Mode ................................................................................10
2.6. PQTXT Enable/Disable GPTXT Sentence Output ...............................................................11
2.7. PQECEF Enable/Disable ECEFPOSVEL Sentence Output ................................................12
2.8. PQODO Start/Stop Odometer Reading................................................................................13
2.9. PQPZ90 Enable/Disable Switching from WGS84 to PZ-90.11 ............................................14
2.10. PQGLP Set the Module into GLP Mode...............................................................................15
2.11. PQVEL Enable/Disable 3 Ways Velocity Sentence Output..................................................16
2.12. PQJAM Enable/Disable Jamming Detection Function.........................................................17
2.13. PQRLM Enable/Disable Return Link Message Output.........................................................18
2.14. PQGEO Configure Parameters of Geo-fence......................................................................20
2.15. PQPREC Configure Parameter Precision in NMEASentences...........................................23
2.16. PQGBS Enable/Disable GBS Sentence Output...................................................................24
3Appendix References........................................................................................................................26
3.1. Related Documents.................................................................................................................26
3.2. Terms andAbbreviations.........................................................................................................26
3.3. Datum Sentence Definition......................................................................................................27
3.4. GBS Sentence Definition.........................................................................................................28
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Table Index
TABLE 1: CURRENT SUPPORTED SDK COMMANDS..................................................................................... 5
TABLE 2: RELATED DOCUMENTS.................................................................................................................. 26
TABLE 3: TERMS AND ABBREVIATIONS........................................................................................................ 26
TABLE 4: DATUM SENTENCE DEFINITION.................................................................................................... 27
TABLE 5: GBS SENTENCE DEFINITION......................................................................................................... 28
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1Introduction
Quectel GNSS modules support SDK commands which are defined and developed by Quectel. This
document describes these SDK commands. The configuration parameters saved by SDK commands will
still exist in flash even after upgrading the modules’ firmware.
This document is applicable to Quectel L70, L80, L76, L76-L, L86 and L26 modules. Their supported SDK
commands are shown in the table below:
Table 1: Current Supported SDK Commands
SDK
Commands
Description
L70
L80
L76
L76-L
L86
L26
PQBAUD
Change NMEA Port Default Baud Rate
Y
Y
Y
Y
Y
Y
PQEPE
Enable/Disable PQEPE Sentence Output
Y
Y
Y
Y
Y
Y
PQ1PPS
Set the Type and Pulse Width of 1PPS
Output
Y
Y
Y
Y
Y
Y
PQFLP
Set the Module into FLP (Fitness Low
Power) Mode
Y
Y
N
N
N
N
PQTXT
Enable/Disable GPTXT Sentence Output
N
Y
N
N
Y
Y
PQECEF
Enable/Disable ECEFPOSVEL Sentence
Output
N
N
Y
Y
Y
Y
PQODO
Start/Stop Odometer Reading
N
N
Y
Y
Y
Y
PQPZ90
Enable/Disable Switching from WGS84 to
PZ-90.11
N
N
Y
Y
Y
Y
PQGLP
Set the Module into GLP (GNSS Low
Power)Mode
N
N
Y
Y
Y
Y
PQVEL
Enable/Disable 3 Ways Velocity Sentence
Output
N
N
Y
Y
Y
Y
PQJAM
Enable/Disable Jamming Detection
Function
N
N
Y
Y
Y
Y
PQRLM
Enable/Disable Return Link Message
Output
N
N
Y
Y
Y
Y
PQGEO
Configure Parameters of Geo-fence
Y
N
Y
Y
Y
Y
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1. Y means supported; N means not supported.
2. For more details about the usage of PQFLP and PQGLP commands, please refer to document [1].
PQPREC
Configure Parameter Precision in NMEA
Sentences
N
N
Y
Y
Y
Y
PQGBS
Enable/Disable GBS Sentence Output
N
N
Y
Y
Y
Y
NOTES
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2Quectel NMEA Packet Protocol
This chapter introduces the Quectel NMEA packet protocol which is a set of extension messages of the
standard NMEA packet protocol. These messages are used to control and configure Quectel L70, L80,
L76, L76-L, L86 and L26 modules.
The structure of Quectel NMEApacket is shown as below:
2.1. Quectel NMEA Packet Format
Preamble
TalkerID
PktType
DataField
*
CHK1
CHK2
CR
LF
Packet Contents:
Preamble: One byte character.
‘$’
TalkerID: Two bytes character string.
“PQ“
PktType: 1-10 bytes character string.
An identifier used to tell the decoder how to decode the packet.
DataField: The DataFileld has variable lengths depending on the packet type.
A command symbol ‘,’ must be inserted ahead of each data filed to help the decoder
process the DataField.
* : 1 byte character.
The star symbol is used to mark the end of DataField.
CHK1, CHK2: Two bytes character string.
CHK1 and CHK2 are the check sum of the data between Preamble and ‘*’.
CR, LF: Two bytes binary data.
The two bytes are used to identify the end of a packet.
The maximum length of each packet is restricted to 255 bytes.
NOTE
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2.2. PQBAUD Change NMEA Port Default Baud Rate
Parameter
Example
$PQBAUD,W,115200*43 //Change NMEA port default baud rate to 115200bps
$PQBAUD,W,OK*40 //Set OK
1. The command will be effective immediately after setting.
2. Parameter is automatically saved.
3. If the baud rate is changed, then there is no response returned in the current baud rate.
2.3. POEPE Enable/Disable PQEPE Sentence Output
PQBAUD Change NMEA Port Default Baud Rate
Write Command
$PQBAUD,W,<baudrate>*Checksum<C
R><LF>
Response
$PQBAUD,W,OK*Checksum<CR><LF>
If there is any error, response:
$PQBAUD,W,ERROR*Checksum<CR><LF>
Reference
<baudrate> NMEA port baud rate, default value is 9600bps, and can be set to 4800bps,
14400bps, 19200bps, 38400bps, 57600bps and 115200bps
PQEPE Enable/Disable PQEPE Sentence Output
Write Command
$PQEPE,W,<mode>,<save>*Checksu
m<CR><LF>
Response
$PQEPE,W,OK*Checksum<CR><LF>
If there is any error, response:
$PQEPE,W,ERROR*Checksum<CR><LF>
URC Message
$PQEPE,<EPE_hori>,<EPE_vert>*Checksum<CR><LF>
Parameter
<EPE_hori> Estimated horizontal position error
NOTES
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Parameter
Example
$PQEPE,W,1,1*2A //Enable the URC including EPE data, and save parameters into flash
$PQEPE,W,OK*02 //Set OK
The command will be effective immediately after setting.
2.4. PQ1PPS Set the Type and Pulse Width of 1PPS Output
Parameter
<EPE_vert> Estimated vertical position error
Example
$PQEPE,5.3050,3.2000*53
Reference
<mode> Operation
0 Disable the URC including EPE data
1 Enable the URC including EPE data
<save> Save operation
0 Parameter is not saved, and ineffective after restart
1 Parameter is saved in flash, and effective after restart
PQ1PPS Set the Type and Pulse Width of 1PPS Output
Write Command
$PQ1PPS,W,<type>,<width>*Checksu
m<CR><LF>
Response
$PQ1PPS,W,OK*Checksum<CR><LF>
If there is any error, response:
$PQ1PPS,W,ERROR*Checksum<CR><LF>
Reference
<type> The type of 1PPS output
0 Disable 1PPS output
NOTE
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Example
$PQ1PPS,W,4,100*1D //Set the type of 1PPS output and PPS pulse width
$PQ1PPS,W,OK*30 //Set OK
$PQ1PPS,W,0,0*18 //Disable 1PPS output
$PQ1PPS,W,OK*30 //Set OK
1. The command will be effective immediately after setting.
2. The parameters is automatically saved.
3. If <type> is set as 0, <width> could be set as 0-998.
2.5. PQFLP Set the Module into FLP Mode
Parameter
1 Send 1PPS after the first fix
2 Send 1PPS after 3D fix
3 Send 1PPS after 2D fix
4 Send 1PPS always
<width> PPS pulse width in millisecond
Range: 2-998
PQFLP Set the Module into FLP Mode
Write Command
$PQFLP,W,<mode>,<save>*Checksu
m<CR><LF>
Response
$PQFLP,W,OK*Checksum<CR><LF>
If there is any error, response:
$PQFLP,W,ERROR*Checksum<CR><LF>
Read Command
$PQFLP,R*Checksum<CR><LF>
Response
$PQFLP,R,<mode>*Checksum<CR><LF>
Reference
<mode> Module operation mode
0 Normal mode
1 FLP mode
<save> Save operation
0 Parameter is not saved, and ineffective after restart
1 Parameter is saved in flash, and effective after restart
NOTES
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Example
$PQFLP,W,1,1*20 //Change to FLP mode
$PQFLP,W,OK*08 //Set OK
$PQFLP,R*25 //Read mode
$PQFLP,R,1*38 //Read OK, FLP mode is enabled
The command will be effective immediately after setting.
2.6. PQTXT Enable/Disable GPTXT Sentence Output
Parameter
PQTXT Enable/Disable GPTXT Sentence Output
Write Command
$PQTXT,W,<mode>,<save>*Checksu
m <CR><LF>
Response
$PQTXT,W,OK*Checksum<CR><LF>
If there is any error, response:
$PQTXT,W,ERROR*Checksum<CR><LF>
URC Message
$GPTXT,01,01,02,<status>*Checksum<CR><LF>
Parameter
<status> Status of antenna
ANTSTATUS=OK: antenna is well connected
ANTSTATUS=OPEN: antenna has been disconnected
ANTSTATUS=SHORT: antenna is short-circuited
Example
$GPTXT,01,01,02,ANTSTATUS=OK*3B
Reference
<mode> Operation
0 Disable GPTXT sentence output
1 Enable GPTXT sentence output
<save> Save operation
0 Parameter is not saved, and ineffective after restart
1 Parameter is saved in flash, and effective after restart
NOTE
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Example
$PQTXT,W,1,1*22 //Enable GPTXT sentence output and save the parameter into flash
$PQTXT,W,OK*0A //Set OK
The command will be effective immediately after setting.
2.7. PQECEF Enable/Disable ECEFPOSVEL Sentence Output
PQECEF Enable/Disable ECEFPOSVEL Sentence Output
Write Command
$PQECEF,W,<mode>,<save>*ChkSu
m<CR><LF>
Response
$PQECEF,W,OK*ChkSum<CR><LF>
If there is any error, response:
$PQECEF,W,ERROR*ChkSum<CR><LF>
Read Command
$PQECEF,R*ChkSum<CR><LF>
Response
$PQECEF,R,<mode>*ChkSum<CR><LF>
URC Message
$ECEFPOSVEL,<time>,<x>,<y>,<z>,<v_x>,<v_y>,<v_z>*C
hkSum<CR><LF>
Parameter
<time> UTC from the internal real-time clock
<x> The value of X axis in ECEF
<y> The value of Y axis in ECEF
<z> The value of Z axis in ECEF
<v_x> Velocity component of X axis in ECEF
<v_y> Velocity component of Y axis in ECEF
<v_z> Velocity component of Z axis in ECEF
Example
$ECEFPOSVEL,052743.000,-1526672.867459,6191083.982
801,143008.780911,0,0,0*14
Reference
NOTE
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Parameter
Example
$PQECEF,W,1,1*7F //Enable ECEFPOSVEL sentence output, and save the parameter into flash
$PQECEF,W,OK*57 //Set OK
$PQECEF,R*7A //Read mode
$PQECEF,R,1*67 //Read OK, ECEFPOSVEL sentence output is enabled
The command will be effective immediately after setting.
2.8. PQODO Start/Stop Odometer Reading
<mode> Operation
0 Disable ECEFPOSVEL sentence output
1 Enable ECEFPOSVEL sentence output
<save> Save operation
0 Parameter is not saved, and ineffective after restart
1 Parameter is saved in flash, and effective after restart
PQODO Start/Stop Odometer Reading
Write Command
$PQODO,W,<mode>[,<initial
distance>]*ChkSum<CR><LF>
Response
$PQODO,W,OK*ChkSum<CR><LF>
If there is any error, response:
$PQODO,W,ERROR*ChkSum<CR><LF>
Read Command
$PQODO,R*ChkSum<CR><LF>
Response
$PQODO,R,<mode>*ChkSum<CR><LF>
If there is any error, response:
$PQODO,R,ERROR*ChkSum<CR><LF>
Query Command
$PQODO,Q*ChkSum<CR><LF>
Response
$PQODO,Q,<distance>*ChkSum<CR><LF>
If there is any error, response
$PQODO,Q,ERROR*ChkSum<CR><LF>
Reference
NOTE
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Parameter
Example
$PQODO,W,1*23 //Start odometer reading, and initial distance is 0m.
$PQODO,W,OK*16 //Set OK
$PQODO,W,1,1000000*3E //Start odometer reading, and initial distance is 1,000,000m.
$PQODO,W,OK*16 //Set OK
$PQODO,R*3B //Read mode
$PQODO,R,1*26 //Read OK, odometer reading has already been started
$PQODO,Q*38 //Query the distance value
$PQODO,Q,123.45*0B //Current distance value is returned
1. The command will be effective immediately after setting.
2. After module is restarted, the PQODO write command must be executed again to re-start odometer
reading.
3. The command is not supported in backup mode.
2.9. PQPZ90 Enable/Disable Switching from WGS84 to PZ-90.11
<mode> Start or stop odometer reading
0 Stop odometer reading and remember the distance value
1 Start odometer reading and initialize the distance according to the <initial
distance>
<initial distance> Set the initial distance, range: 0-1e09, unit: meter
When <mode> is 1, this parameter can be omitted, and its default value is 0
When <mode> is 0, this parameter must be omitted
<distance> Current distance. Unit: meter
PQPZ90 Enable/Disable Switching from WGS84 to PZ-90.11
Write Command
$PQPZ90,W,<mode>,<save>*ChkSum
<CR><LF>
Response
$PQPZ90,W,OK*ChkSum<CR><LF>
If there is any error, response:
$PQPZ90,W,ERROR*ChkSum<CR><LF>
Read Command
$PQPZ90,R*ChkSum<CR><LF>
Response
$PQPZ90,R,<mode>*ChkSum<CR><LF>
URC Message
$GNDTM,P90,x,xx.xxxx,x,xx.xxxx,x,xxx,W84*hh<CR><LF
>
NOTES
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Parameter
Example
$PQPZ90,W,1,1*79 //Enable switching from WGS84 to PZ-90.11, and save the parameter into flash
$PQPZ90,W,OK*51 //Set OK
$PQPZ90,R*7C //Read mode
$PQPZ90,R,0*60 //Read OK, switching from WGS84 to PZ-90.11 is enabled
1. The command will be effective immediately after setting <save> to 0. However, when <save> is set
to 1, it will be effective only after restart for versions earlier than L76NR03A01S (on L76 module),
L76LNR02A01S (on L76-L module), L86NR02A01S (on L86 module) and L26NR02A01S (on L26
module).
2. If switching from WGS84 to PZ-90.11 is enabled and effective, the coordinate values in RMC and
GGA sentences will be switched to PZ-90.11 after fixing. Also, a DTM sentence will be displayed to
identify the datum used.
2.10. PQGLP Set the Module into GLP Mode
Parameter definition is available in Table 4.
Reference
Chapter 3.3
<mode> Operation
0 Disable switching from WGS84 to PZ-90.11
1 Enable switching from WGS84 to PZ-90.11
<save> Save operation
0 Parameter is not saved, and ineffective after restart
1 Parameter is saved in flash, and effective after restart
PQGLP Set the Module into GLP Mode
Write Command
$PQGLP,W,<mode>,<save>*ChkSum
<CR><LF>
Response
$PQGLP,W,OK*ChkSum<CR><LF>
If there is any error, response:
$PQGLP,W,ERROR*ChkSum<CR><LF>
Read Command
$PQGLP,R*ChkSum<CR><LF>
Response
$PQGLP,R,<mode>*ChkSum<CR><LF>
NOTES
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Parameter
Example
$PQGLP,W,1,1*21 //Change to GLP mode
$PQGLP,W,OK*09 //Set OK
$PQGLP,R*24 //Read mode
$PQGLP,R,1*39 //Read OK, GLP mode is enabled
The command will be effective immediately after setting.
2.11. PQVEL Enable/Disable 3 Ways Velocity Sentence Output
Reference
<mode> Module operation mode
0 Normal mode
1 GLP mode
<save> Save operation
0 Parameter is not saved, and ineffective after restart
1 Parameter is saved in flash, and effective after restart
PQVEL Enable/Disable 3 Ways Velocity Sentence Output
Write Command
$PQVEL,W,<mode>,<save>*ChkSum
<CR><LF>
Response
$PQVEL,W,OK*ChkSum<CR><LF>
If there is any error, response:
$PQVEL,W,ERROR*ChkSum<CR><LF>
Read Command
$PQVEL,R*ChkSum<CR><LF>
Response
$PQVEL,R,<mode>*ChkSum<CR><LF>
URC Message
$PQVEL,<north_vel>,<east_vel>,<down_vel>*ChkSum<C
R><LF>
Parameter
<north_vel> North velocity
<east_vel> East velocity
NOTE
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Parameter
Example
$PQVEL,W,1,1*25 //Enable 3 ways velocity sentence output
$PQVEL,W,OK*0D //Set OK
$PQVEL,R*20 //Read mode
$PQVEL,R,1*3D //Read OK, 3 ways velocity sentence output is enabled
The command will be effective immediately after setting.
2.12. PQJAM Enable/Disable Jamming Detection Function
<down_vel> Down velocity
Example
$PQVEL,1.000000,2.000000,-0.000000*42
Reference
<mode> Enable/disable 3 ways velocity sentence output
0 Disable
1 Enable
<save> Save operation
0 Parameter is not saved, and ineffective after restart
1 Parameter is saved in flash, and effective after restart
PQJAM Enable/Disable Jamming Detection Function
Write Command
$PQJAM,W,<mode>,<save>*ChkSum
<CR><LF>
Response
$PQJAM,W,OK*ChkSum<CR><LF>
If there is any error, response:
$PQJAM,W,ERROR*ChkSum<CR><LF>
Read Command
$PQJAM,R*ChkSum<CR><LF>
Response
$PQJAM,R,<mode>*ChkSum<CR><LF>
URC Message
$PMTKSPF, <status>*ChkSum<CR><LF>
NOTE
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Parameter
<mode> Operation mode
0 Disable jamming detection function
1 Enable jamming detection function
<save> Save operation
0 Parameter is not saved, and ineffective after restart
1 Parameter is saved in flash, and effective after restart
Example
$PQJAM,W,1,1*3C //Enable jamming detection function
$PQJAM,W,OK*14 //Set OK
$PQJAM,R*39 //Read operation mode
$PQJAM,R,1*24 //Read OK
1. The command will be effective immediately after setting.
2. The command is not supported in backup mode.
2.13. PQRLM Enable/Disable Return Link Message Output
Parameter
<status> Jamming status
1 No jamming, healthy status.
2 Warning status.
3 Critical status
Example
$PMTKSPF,1*5A
Reference
PQRLM Enable/Disable Return Link Message Output
Write Command
$PQRLM,W,<mode>,<save>*ChkSum
<CR><LF>
Response
$PQRLM,W,OK*ChkSum<CR><LF>
If there is any error, response:
$PQRLM,W,ERROR*ChkSum<CR><LF>
NOTES
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Parameter
Example
$PQRLM,W,1,1*29 //Enable return link message output
$PQRLM,W,OK*01 //Set OK
$PQRLM,R*2C //Read mode
$PQRLM,R,1*31 //Read OK
The command will be effective immediately after setting.
Read Command
$PQRLM,R*ChkSum<CR><LF>
Response
$PQRLM,R,<mode>*ChkSum<CR><LF>
URC Message
$PQRLM,<beacon_id>,<gps_second>,<msg_code>,<para
>*ChkSum<CR><LF>
Parameter
<beacon_id> Beacon ID of RLM
<gps_second> The GPS second when receiving RLM
<msg_code> Message code
<para> The data parameters provided by RLS.
(short message contains 4 hex characters,
long message contains 24 hex characters)
Example
$PQRLM,0a0a0a0a0a0a0a8,955065733,1,8aa1*3E
$PQRLM,050505050505052,955065709,15,5555555555555
55555
Reference
<mode> Enable/disable return link message output
0 Disable
1 Enable
<save> Save operation
0 Parameter is not saved, and ineffective after restart
1 Parameter is saved in flash, and effective after restart
NOTE
Quectel
Confidential