Telit Wireless Solutions Jupiter SL869 User manual

SL869 SW User Guide
1VV0301002 Rev.6 – 2013-10-1

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APPLICABILITY TABLE
PRODUCT
SL869
SW Version
3.1.12.3

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SPECIFICATIONS SUBJECT TO CHANGE WITHOUT NOTICE
Notice
While reasonable efforts have been made to assure the accuracy of this document, Telit
assumes no liability resulting from any inaccuracies or omissions in this document, or from
use of the information obtained herein. The information in this document has been carefully
checked and is believed to be entirely reliable. However, no responsibility is assumed for
inaccuracies or omissions. Telit reserves the right to make changes to any products described
herein and reserves the right to revise this document and to make changes from time to time
in content hereof with no obligation to notify any person of revisions or changes. Telit does
not assume any liability arising out of the application or use of any product, software, or
circuit described herein; neither does it convey license under its patent rights or the rights of
others.
It is possible that this publication may contain references to, or information about Telit
products (machines and programs), programming, or services that are not announced in your
country. Such references or information must not be construed to mean that Telit intends to
announce such Telit products, programming, or services in your country.
Copyrights
This instruction manual and the Telit products described in this instruction manual may be,
include or describe copyrighted Telit material, such as computer programs stored in
semiconductor memories or other media. Laws in the Italy and other countries preserve for
Telit and its licensors certain exclusive rights for copyrighted material, including the
exclusive right to copy, reproduce in any form, distribute and make derivative works of the
copyrighted material. Accordingly, any copyrighted material of Telit and its licensors
contained herein or in the Telit products described in this instruction manual may not be
copied, reproduced, distributed, merged or modified in any manner without the express
written permission of Telit. Furthermore, the purchase of Telit products shall not be deemed
to grant either directly or by implication, estoppel, or otherwise, any license under the
copyrights, patents or patent applications of Telit, as arises by operation of law in the sale of a
product.
Computer Software Copyrights
The Telit and 3rd Party supplied Software (SW) products described in this instruction manual
may include copyrighted Telit and other 3rd Party supplied computer programs stored in
semiconductor memories or other media. Laws in the Italy and other countries preserve for
Telit and other 3rd Party supplied SW certain exclusive rights for copyrighted computer
programs, including the exclusive right to copy or reproduce in any form the copyrighted
computer program. Accordingly, any copyrighted Telit or other 3rd Party supplied SW
computer programs contained in the Telit products described in this instruction manual may
not be copied (reverse engineered) or reproduced in any manner without the express written
permission of Telit or the 3rd Party SW supplier. Furthermore, the purchase of Telit products
shall not be deemed to grant either directly or by implication, estoppel, or otherwise, any
license under the copyrights, patents or patent applications of Telit or other 3rd Party supplied
SW, except for the normal non-exclusive, royalty free license to use that arises by operation
of law in the sale of a product.

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Usage and Disclosure Restrictions
License Agreements
The software described in this document is the property of Telit and its licensors. It is
furnished by express license agreement only and may be used only in accordance with the
terms of such an agreement.
Copyrighted Materials
Software and documentation are copyrighted materials. Making unauthorized copies is
prohibited by law. No part of the software or documentation may be reproduced, transmitted,
transcribed, stored in a retrieval system, or translated into any language or computer language,
in any form or by any means, without prior written permission of Telit
High Risk Materials
Components, units, or third-party products used in the product described herein are NOT
fault-tolerant and are NOT designed, manufactured, or intended for use as on-line control
equipment in the following hazardous environments requiring fail-safe controls: the operation
of Nuclear Facilities, Aircraft Navigation or Aircraft Communication Systems, Air Traffic
Control, Life Support, or Weapons Systems (High Risk Activities"). Telit and its supplier(s)
specifically disclaim any expressed or implied warranty of fitness for such High Risk
Activities.
Trademarks
TELIT and the Stylized T Logo are registered in Trademark Office. All other product or
service names are the property of their respective owners.
Copyright © Telit Communications S.p.A. 2013.

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Contents
1.Introduction .............................................................................................................7
1.1.Scope............................................................................................................................ 7
1.2.Audience....................................................................................................................... 7
1.3.Contact Information, Support ...................................................................................... 7
1.4.Document Organization ............................................................................................... 8
1.5.Text Conventions.......................................................................................................... 8
1.6.Related Documents ..................................................................................................... 8
2.Communication Interface.........................................................................................9
2.1.UART ............................................................................................................................ 9
2.2.NMEA Characteristics.................................................................................................. 9
2.3.Commands ................................................................................................................. 10
2.4.Messages ................................................................................................................... 10
3.Commands Description..........................................................................................11
3.1.$PSTMINITGPS .......................................................................................................... 12
3.2.$PSTMINITTIME......................................................................................................... 13
3.3.$PSTMCLREPHS........................................................................................................ 14
3.4.$PSTMDUMPEPHEMS ............................................................................................... 14
3.5.$PSTMEPHEM............................................................................................................ 15
3.6.$PSTMNMEAONOFF.................................................................................................. 16
3.7.$PSTMCOLD............................................................................................................... 16
3.8.$PSTMWARM ............................................................................................................. 17
3.9.$PSTMHOT................................................................................................................. 17
3.10.$PSTMSRR ............................................................................................................. 17
3.11.$PSTMGPSRESET................................................................................................... 18
3.12.$PSTMGETSWVER.................................................................................................. 18
3.13.$PSTMSBASONOFF................................................................................................ 19
3.14.$PSTMSBASSAT..................................................................................................... 19
4.Messages Description............................................................................................20

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4.1.GPGGA........................................................................................................................ 21
4.2.GNGSA........................................................................................................................ 22
4.3.--GSV .......................................................................................................................... 23
4.4.GPRMC ....................................................................................................................... 24
5.Document History ..................................................................................................25

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1. Introduction
1.1. Scope
This document describes the serial communications interface between the SL869
GPS/GLONASS receiver module firmware and Host Processor software.
1.2. Audience
This document is intended for public distribution to potential customers who are evaluating
the SL869 GPS/GLONASS module. It can also be used by customers who are developing
application software for the Host Processor in a device that incorporates the SL869.
1.3. Contact Information, Support
For general contact, technical support, to report documentation errors and to order manuals,
contact Telit Technical Support Center (TTSC) at:
[email protected]
[email protected]
[email protected]
[email protected]
Alternatively, use:
http://www.telit.com/en/products/technical-support-center/contact.php
For detailed information about where you can buy the Telit modules or for recommendations
on accessories and components visit:
http://www.telit.com
To register for product news and announcements or for product questions contact Telit
Technical Support Center (TTSC).
Our aim is to make this guide as helpful as possible. Keep us informed of your comments and
suggestions for improvements.
Telit appreciates feedback from the users of our information.

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1.4. Document Organization
This document contains the following chapters (sample):
“Chapter 1: “Introduction” provides a scope for this document, target audience, contact and
support information, and text conventions.
“Chapter 2: “Communication Interface” gives an overview of the serial communications
interface and describes general characteristics of input commands and output messages.
“Chapter 3: “Commands Description” describes in detail each of the input commands for the
SL869.
“Chapter 4: “Messages Description” describes in detail each of the output messages produced
by the SL869.
“Chapter 5: “Document History” provides of the changes made to this User Guide.
1.5. Text Conventions
Danger – This information MUST be followed or catastrophic equipment failure or bodily
injury may occur.
Caution or Warning – Alerts the user to important points about integrating the module, if
these points are not followed, the module and end user equipment may fail or malfunction.
Tip or Information – Provides advice and suggestions that may be useful when
integrating the module.
All dates are in ISO 8601 format, i.e. YYYY-MM-DD.
1.6. Related Documents
SL869 Product Description, 80405ST10105a

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2. Communication Interface
The serial communication interface between the SL869 receiver module and the Host
processor is based on the NMEA-0183 protocol standard specified by the National Marine
Electronics Association (NMEA). This is an ASCII-based standard that is widely used in the
GPS industry for serial communication with GPS receivers.
2.1. UART
Serial communication with the SL869 is conducted over the UART port, which is assigned to
Pins 20 (Tx) and 21 (Rx). There is no hardware flow control. The default port settings are:
9600 Baud
Eight data bits
No parity bits
One stop bit
Note that manual user interaction with the SL869 can be achieved using a PC terminal
emulator.
2.2. NMEA Characteristics
This subsection highlights characteristics of the NMEA-0183 protocol as they pertain to the
SL869 interface.
Start And Termination
An NMEA data packet is transmitted as an ASCII string beginning with a “$” character, but it
is terminated with <carriage return> <line feed> character sequence. The hexadecimal
representation of this sequence is 0x0D 0x0A.
Proprietary Packets
Proprietary data packets are allowed by the NMEA protocol standard. They begin with “$P”
followed by a Manufacturer’s Mnemonic Code that is assigned by the NMEA. The SL869
module is based on the STA8088 device from ST Microelectronics, who has been assigned
the code “STM.” Therefore, proprietary packets used by the SL869 begin with the character
sequence “$PSTM.”
Checksums
The NMEA standard specifies a two-character checksum field that follows a ‘*” delimiting
character placed at the end of the ASCII data string. The checksum is calculated as the 8-bit
exclusive-OR (XOR) of all characters in the string, excluding the “$” and “*’ delimiters.
The SL869 includes checksums on all output NMEA messages. With one exception,
checksums are not required on input messages and if present are ignored by the SL869.

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Packet Length
The NMEA standard specifies a maximum number of characters for each data packet, but the
SL869 does not strictly adhere to this limit.
2.3. Commands
Commands are sent from the Host Processor to the SL869 and have the basic structure
illustrated below:
command-ID[,parameter1,parameter2,…,parameterN]<cr><lf>
Parameters, if present, are delimited by “,” characters as per the NMEA protocol. All SL869
commands are proprietary and therefore all command-ID’s begin with the “$PSTM” character
sequence.
In most cases, the SL869 will echo the command back out to the Host Processor after the
command has been executed. Commands that are not echoed are indicated in the detailed
commands descriptions later in this Guide.
NOTE:
An easy way to send commands to the SL869 manually is to write the command to a text
file and use the “send text file” function of the terminal emulator. When doing so, make
sure that the <cr><lf> characters are transmitted at the end of the command.
2.4. Messages
Messages are sent from the SL869 to the Host Processor and have the basic structure
illustrated below:
message-ID,<data1,data2,…,dataN>*<checksum><cr><lf>
Individual data fields are delimited by “,” characters. The checksum is provided for purposes
of bit error detection by the Host if desired.
The SL869 outputs certain standard messages as defined in version 3.01 of the NMEA-0183
protocol standard. The message-ID for standard messages begins with an NMEA talker ID:
“$GP” indicating GPS, “$GL” indicating GLONASS, and “$GN” indicating global
navigation. Specific talker IDs used for each message are described later in this Guide in the
Messages section.
The SL869 also outputs proprietary messages. As with commands, proprietary message-IDs
begin with “$PSTM.” Note that some proprietary messages are responses to input commands.

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3. Commands Description
The table below summarizes the set of commands for the SL869:
Command ID Description
$PSTMINITGPS Initialize GPS position and time
$PSTMINITTIME Initialize GPS time
$PSTMCLREPHS Clear all ephemeris data
$PSTMDUMPEPHEMS Dump ephemeris data
$PSTMEPH Load ephemeris data
$PSTMNMEAONOFF Toggle the NMEA output ON and OFF
$PSTMCOLD Perform a COLD start
$PSTMWARM Perform a WARM start
$PSTMHOT Perform a HOT start
$PSTMSRR Perform a system reset
$PSTMGPSRESET Reset the GPS engine
$PSTMGETSWVER Get the GNSS Library version
$PSTMSBASONOFF Toggle the SBAS feature ON and OFF
$PSTMSBASSAT Select the SBAS satellite PRN code
Unless otherwise noted in the following subsections, commands are echoed by the SL869
after the command is executed.

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3.1. $PSTMINITGPS
This command is used to initialize GPS position and time. It is typically only used for test
purposes or for aiding satellite acquisitions in very harsh RF signal environments.
Synopsis:
$PSTMINITGPS,<Lat>,<LatRef>,<Lon>,<LonRef>,<Alt>,<Day>,
<Month>,<Year>,<Hour>,<Minute>,<Second><cr><lf>
Parameter Format Description
Lat DDMM.MMM Latitude (DegreesMinutes.FractionalMinute)
LatRef ‘N’ or ‘S’ Latitude direction (North or South)
Lon DDDMM.MMM Longitude (DegreesMinutes.FractionalMinute)
LonRef ‘E’ or ‘W’ Longitude direction (East or West)
Alt dddd – Decimal, 4 digits WGS-84 altitude in meters (-1500 to 100000)
Day dd – Decimal, 2 digits Day of month (01 to 31)
Month mm – Decimal, 2 digits Month (01 to 12)
Year yyyy – Decimal, 4 digits Year (1994 - …)
Hour HH – Decimal, 2 digits Hour (00 to 23)
Minute MM – Decimal, 2 digits Minute (00 to 59)
Second SS – Decimal, 2 digits Second (00 to 59)
The time and position data will be ignored by the SL869 if it already has an estimate of time
and position, respectively. If the data is accepted, it will be reflected in the output messages,
for example $GPGGA, and the SL869 will respond with the message:
$PSTMINITGPSOK*40<cr><lf>
The $PSTMINITGPS command is ignored by the SL869 if any of the input parameters are
out of range or if the command is otherwise formatted incorrectly, and the SL869 will respond
with the message:
$PSTMINITGPSERROR*1c<cr><lf>
Example:
Initialize position to 48011.365’ N latitude, 11064.123’ E longitude and 530 meters altitude,
and set current time to 9:44:12 UTC on Feb 23rd, 2009.
$PSTMINITGPS,4811.365,N,01164.123,E,0530,23,02,2009,09,44,12

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3.2. $PSTMINITTIME
This command may be used to initialize GPS time in the receiver. It is typically only used for
test purposes or for aiding satellite acquisitions in very harsh RF signal environments.
Synopsis:
$PSTMINITTIME,<Day>,<Month>,<Year>,<Hour>,<Minute>,
<Second><cr><lf>
Parameter Format Description
Day dd – Decimal, 2 digits Day of month (01 to 31)
Month mm – Decimal, 2 digits Month (01 to 12)
Year yyyy – Decimal, 4 digits Year (1994 - …)
Hour HH – Decimal, 2 digits Hour (00 to 23)
Minute MM – Decimal, 2 digits Minute (00 to 59)
Second SS – Decimal, 2 digits Second (00 to 59)
The input time will be ignored by the SL869 if it already has an estimate of time. If the data
is accepted, it will be reflected in the output messages, for example $GPGGA. The SL869
will also respond with the message:
$PSTMINITTIMEOK*11<cr><lf>
The $PSTMINITTIME command is ignored by the SL869 if any of the input parameters are
out of range or if the command is otherwise formatted incorrectly, and the SL869 will respond
with the message:
$PSTMINITTIMEERROR*4d<cr><lf>
Example:
Initialize current time to 9:44:12 UTC on Feb 23rd, 2009.
$PSTMINITTIME,23,02,2009,09,44,12

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3.3. $PSTMCLREPHS
This command allows the user to clear all ephemeris data from backup SRAM and erase all
ephemeris stored in NVM backup memory. It is typically used to force the SL869 to collect
the most recent satellite ephemeris data, or to prepare the SL869 to be loaded with ephemeris
data over the serial port. There are no parameters, and there is no response message to this
command.
Synopsis:
$PSTMCLREPHS<cr><lf>
As a result of clearing ephemeris data, the SL869 drops out of navigation. It will produce
position fixes after it has re-collected ephemeris from a sufficient number of satellites.
3.4. $PSTMDUMPEPHEMS
This command is used to request that the SL869 output all ephemeris data stored in backup
memory. There are no parameters.
Synopsis:
$PSTMDUMPEPHEMS<cr><lf>
The SL869 responds with a series of $PSTMEPHEM messages, each containing the
ephemeris data for one satellite. Each of these messages has the same format as the
$PSTMEPHEM command described in the next section. Checksums are included in
$PSTMEPHEM when it is a message, but they are not required when $PSTMEPHEM is used
as a command.
The SL869 echoes the command once all of the response messages have been output.
NOTE:
The $PSTMEPHEM response messages do not block regularly scheduled periodic
output messages, and therefore they are not guaranteed to be output all in sequence.
The $PSTMNMEAONOFF command can be used to temporarily disable periodic
output so that the response messages can be captured as one sequence and then be re-
used as a source of $PSTMEPHEM load ephemeris commands.

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3.5. $PSTMEPHEM
This command allows the user to load ephemeris data for a satellite into backup memory. It
has the same ID and data structure as when it is output as a message. Note that this command
also requires a checksum.
Synopsis:
$PSTMEPHEM,<SatId>,<N>,<Byte1>……<ByteN>*<checksum><cr><lf>
Parameter Format Description
SatId ii – Decimal, 2 digits Satellite PRN number
N One digit decimal Number of ephemeris data bytes in the command
Byte1…
ByteN bb – Hexadecimal, 2 digits N ephemeris data bytes
checksum cc – Hexadecimal, 2 digits NMEA checksum
Note that the ephemeris data bytes are input as a single parameter and are not delimited by
commas.
Example:
$PSTMEPHEM,3,64,8f06786978691313132001009ba4ff009af9e5178c12aa
faba006e00fc3700001f7eea25cab5b60780b00da183d906cb6048efd545e6
e12ff7002d0012c0c003*58
Note that the command is not echoed. The SL869 responds with a message having the
following format:
$PSTMEPHEM,<SatId>,<N>, <status>
where SatId and Nare the echoed parameters from the load command. The status is “OK”
if the ephemeris message was accepted.
NOTE:
This command has the same format as the $PSTMEPHEM message that is output in
response to the $PSTMDUMPEPHEMS command described in the previous section.

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3.6. $PSTMNMEAONOFF
This command can be used to switch the periodic NMEA output on and off. It does not affect
command responses. The parameter is optional. If the parameter is not provided, the NMEA
output is toggled on or off. There is no response message to this command.
Synopsis:
$PSTMNMEAONOFF[,<OnOff]<cr><lf>
Parameter Format Description
OnOff One digit decimal 0 – NMEA output will be disabled
1 – NMEA output will be enabled
This command is only echoed when the NMEA output is being switched on, and not when it
is being switched off.
3.7. $PSTMCOLD
This command causes the SL869 to perform a cold start. There is no response message to
this command.
Synopsis:
$PSTMCOLD,[<Mask>]<cr><lf>
Parameter Format Description
Mask Integer Optional configuration parameter used to specify data to
be invalidated for the cold start:
0x01 – clear almanac
0x02 – clear ephemeris
0x04 – clear position
0x08 – clear time
If the mask parameter is not provided, the default cold start configuration, bitmap 0xE (clear
ephemeris, position and time), is used. This is equivalent to an input parameter of 14 and is
the most common definition of a cold start used in the industry.
In response to this message the SL869 will perform a GPS engine reset. It will not however
perform a system reboot.
Example:
Cold start with all data cleared:
$PSTMCOLD,15

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3.8. $PSTMWARM
This command causes the SL869 to perform a warm start. A warm start is defined as one in
which position and time is known from a previous operation but ephemeris is invalid. There
are no parameters, and there is no response message to this command.
Synopsis:
$PSTMWARM<cr><lf>
In response to this message the will perform a GPS engine reset. It will not perform a system
reboot.
3.9. $PSTMHOT
This command causes the SL869 to perform a hot start. A hot start is defined as one in which
position and time is known and ephemeris is valid from previous operation. There are no
parameters, and there is no response message to this command.
Synopsis:
$PSTMHOT<cr><lf>
In response to this message the will perform a GPS engine reset. It will not perform a system
reboot.
3.10. $PSTMSRR
This command allows the user to execute a system reset and reboot the GNSS firmware on
the SL869. There are no parameters, and there is no response message to this command.
Synopsis:
$PSTMSRR<cr><lf>
NOTE:
The SL869 does not echo this command.
CAUTION:
This command is not supported if the USB port is being used, i.e. if the USB Detect input
signal is high.

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3.11. $PSTMGPSRESET
This command is used to reset the GPS receiver engine. It does not reboot the GNSS
firmware. There are no parameters for this command, and there is no response message to
this command.
Synopsis:
$PSTMGPSRESET<cr><lf>
3.12. $PSTMGETSWVER
This command allows the user to get the versions of the libraries embedded within the
firmware application. It also allows the user to get the Telit firmware application version
string, which is also output in a GPTXT message when the SL869 starts up.
Synopsis:
$PSTMGETSWVER,<Id><cr><lf>
Parameter Format Description
Id Integer Identifier representing the specified library or libraries for
which the version number is being requested
0 – GNSS Library
1 – OS20 Library
2 – SDK Application
4 – WAAS Library
6 – Binary Image
255 – Telit Version
The SL869 responds with the following message format for all valid input parameter values
except for 255:
$PSTMVER,<Lib>_<Ver>_<Type>*<checksum><cr><lf>
Parameter Format Description
Lib Fixed Text Text string indicating the requested library:
- GNSSLIB
- OS20LIB
- GPSAPP
- WAASLIB
- BINIMG
Ver x.x.x.x Library version, for example 7.3.1.43

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Type ARM Indicates ARM compiler type
If the input parameter value is 255, the SL869 responds with a message of the form:
$GPTXT,<Telit version string>*<checksum><cr><lf>
3.13. $PSTMSBASONOFF
This command can be used to toggle the SBAS differential GPS feature on and off. By
default the SBAS feature is off (disabled) whenever the SL869 is reset. When SBAS is on
(enabled), the SL869 searches for SBAS satellites. If the SL869 successfully acquires a
satellite, it obtains and uses differential GPS corrections transmitted by the satellite. The
SBAS PRN appears in the GPGSV messages as specified in the NMEA standard.
Synopsis:
$PSTMSBASONOFF<cr><lf>
3.14. $PSTMSBASSAT
This command is used to select the SBAS PRN code to be used for differential operation. By
default the SBAS PRN is automatically selected by the SL869. If an SBAS PRN is selected
but cannot be acquired, the SL869 searches for other SBAS satellites. The SL869 reverts
back to automatic SBAS selection when it is reset or is power cycled.
Synopsis:
$PSTMSBASSAT,<Prn><cr><lf>
Parameter Format Description
Prn Decimal, three digits SBAS Satellite PRN code, ranging from 120 to 138
Example:
Set the SBAS PRN code to 138:
$PSTMSBASSAT,138

SL869 SW User Guide
1VV0301002 Rev.6 – 2013-10-1
Reproduction forbidden without written authorization from Telit Communications S.p.A.- All Rights Reserved. Page 20 of 25
Mod. 0806 2011-07 Rev.2
4. Messages Description
The table below summarizes the messages that are output periodically by the SL869:
Message ID Description
$GPGGA NMEA: Global Position System fix data
$GNGSA NMEA: GNSS Dilution of Precision (DOP) and active
satellites
$--GSV NMEA: GNSS satellites in view. “GP” talker ID reports
GPS, “GL” talker ID reports GLONASS satellites.
$GPRMC NMEA: Recommended minimum specific GNSS data
All messages are output once per second. There are multiple GSA and GSV messages output
each second.