MDEV-GPS-F4 datasheet(12/25 Pages) LINX

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VTG – Course Over Ground and Ground Speed

Figure 17 contains the values for the following example:

$GPVTG,79.65,T,,M,2.69,N,5.0,K,A*38

Course Over Ground and Ground Speed Example

Name

Example

Units

Description

Message ID

$GPVTG

VTG protocol header

Course over ground

79.65

degrees

Measured heading

Reference

TRUE

Course over ground

degrees

Measured heading (N/A, null field)

Reference

Magnetic

Speed over ground

2.69

knots

Measured speed

Units

Knots

Speed over ground

5.0

km/hr

Measured speed

Units

Kilometer per hour

Mode

A=autonomous, D=DGPS, N= Data

not valid

Checksum

*38

End of message termination

Figure 17: Course Over Ground and Ground Speed Example

NMEA Input Messages

The following outlines the serial commands input into the module for

configuration. By default, the commands are input at 9,600bps, 8 data bits,

no parity, 1 start bit and 2 stop bits.

All fields in all proprietary NMEA messages are required; none are optional.

All NMEA messages are comma delimited. Figure 19 outlines the message

identifiers supported by the module.

Serial Data Structure

Name

Example

Description

Start Sequence

$PSRF

Message ID

<MID>

Message Identifier consisting of three numeric

characters. Input messages begin at MID 100.

Payload

DATA

Message specific data.

Checksum

CKSUM

CKSUM is a two-hex character checksum as

defined in the NMEA specification, NMEA-0183

Standard for Interfacing Marine Electronic Devices.

Checksums are required on all input messages.

End Sequence

Each message must be terminated using Carriage

Return (CR) Line Feed (LF) (\r\n, 0x0D0A) to cause

the receiver to process the input message. They

are not printable ASCII characters, so are omitted

from the examples.

Figure 18: Serial Data Structure

Message ID Values

Name

MID

Description

SetSerialPort

100

Set serial port parameters and protocol

NavigationInitialization

101

Reset the modules

Query/Rate Control

103

Query standard NMEA message and/or set

output rate

LLANavigationInitialization

104

Reset the modules

Development Data On/Off

105

Development Data messages On/Off

System Turn Off

117

Performs an orderly shut down of the module

and switches into hibernation mode

PowerManagement

200

Sets the power performance of the receiver

FirmwareVersion

201

Query the firmware version

StaticNavigation

202

Sets static navigation On/Off

SetIO

211

Sets the I/O lines to an input or output

ReadInput

212

Reads the state of the inputs lines

WriteOutput

213

Writes the state of an output line

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