Skip to content

Latest commit

 

History

History
471 lines (389 loc) · 17.9 KB

RedWAVE_Protocol_Specification_en.md

File metadata and controls

471 lines (389 loc) · 17.9 KB
Raw

Main ❯ Navigation & tracking systems ❯ Communication protocol description: RedNODE

logo
www.unavlab.com
[email protected]		 RedWAVE - underwater acoustic navigation system
RedNODE interfacing protocol

RedWAVE
RedNODE interfacing protocol

Contents

1. Introduction

1.1. Physical protocol

Hydroacoustic navigation receivers RedNODE support pairing using RS-232 physical layer standard for asynchronous interface (UART) with 3.3V data line voltage. The connection is made using a four-wire cable, with wires Tx (transmitter), Rx (receiver), Vcc (power) and GND (ground). Without the use of additional repeaters and interface converters, the maximum length of the data cable, for which the correct operation of the interface is guaranteed, is no more than 2 meters.

Default port settings1:

Baudrate: 9600 bit/s
Data bits: 8
Stop bits: 1
Parity: No
Hardware flow control: No

** ATTENTION! ** Receivers are powered by a 12 V DC source, while the data line voltage is 3.3 V.

1.2. NMEA0183 Protocol standard

The NMEA0183 standard describes the format of text (ASCII) messages (sentences) of an interactive level.

Example sentence: $PTNT0,1*hh<CR><LF>

The main elements of the sending (message, sentence) NMEА0183:

  • '$' - the beginning of the message,
  • 'P' - Proprietary, proprietary code
  • 'TNT' - three-letter manufacturer identifier
  • '0' - message identifier
  • ',' - comma (parameter separator)
  • '1' - 1st parameter
  • '*' - checksum separator
  • 'hh' is the checksum in hexadecimal format (e.g. FF, 01). It is calculated as the bitwise XOR of all bytes between '$' and '*'.
  • <CR><LF> - end of message (line feed)

1 The specified parameters can be changed upon request

2. TNT Command System and Standard Messages NMEA0183

The D2H prefix in the message name means that it is transmitted from the device (Device) to the host system (Host). The H2D prefix in the message name means that it is transmitted from the host system to the device.

2.1. Commonly used messages

This group includes messages that the device sends by default (considering on its internal state).

2.1.1. GGA

Standard NMEA0183 sentence - Global positioning system fix data.

Format: $GNGGA,hhmmss.sss,ddmm.mmm,N|S,yyymm.mmm,E|W,x,xx,x.x,x.x,M,x.x,M,xx,xxxx*hh<CR><LF>

№ Field/Parameter Description
$ Sentence start '$'
GN Standard talker - Global navigation
GGA Standard sentence ID - Global positioning system fix data
1 UTC Time UTC, hhmmss.sss
2 Latitude Latitude, ddmm.mmmmmm
3 N S
4 Longitude Longitude, dddmm.mmmmmm
5 E W
6 Fix Type Fix type
7 Satellites in view Number of satellites in view (always 4 in RedWAVE)
8 HDOP Horizontal dilution of precision, метры. (in RedWAVE this field contains the radial error - residual function value in the end of navigational problem solution)
9 Altitude Altitude, m. (in RedWAVE this field contains the depth of the receiver, "altitude" with "-")
10 M М - meters
11 Geoidal separation Not supported
12 Age of data Not supported
13 Reference station ID Not supported
* NMEA checksum separator
hh NMEA checksum
<CR><LF> end of sentence

2.1.2. RMC

Standard NMEA0183 sentence - Recommended minimum, sentence 'C'.

Format: $GNRMC,hhmmss.sss,A|V,ddmm.mmm,N|S,dddmm.mmm,E|W,x.x,x.x,ddmmyy,,,A|D|V*hh<CR><LF>

№ Field/Parameter Description
$ Sentence start '$'
GN Standard talker - Global navigation
RMC Standard sentence ID - Recommended minimum, sentence 'C'
1 UTC Time UTC, hhmmss.sss
2 Data quality indicator A - data valid
3 Latitude Latitude, ddmm.mmmmmm
4 N S
5 Longitude Longitude, dddmm.mmmmmm
6 E W
7 Speed Not supported
8 Course Not supported
9 Date Not supported
10 Magnetic variation Not supported
11 E W
12 A Mode, A - GNSS
* NMEA checksum separator
hh NMEA checksum
<CR><LF> end of sentence

2.1.3. MTW

Standard NMEA0183 sentence - Mean water temperature (Температура воды).

Format: $GNMTW,x.x,C*hh<CR><LF>

№ Field/Parameter Description
$ Sentence start '$'
GN Standard talker - Global navigation
MTW Standard - Mean temperature of water
1 Temperature Температура воды, ˚C
2 C C - Celsius
* NMEA checksum separator
hh NMEA checksum
<CR><LF> end of sentence

2.1.4. IC_D2H_NEW_PFIX_UPDATE

Position fix and location of the buoys.

Format: $PTNTC,x,x,x.x,x.x,x.x,x.x,x.x,x.x,x.x,x.x,x.x,x.x,x.x,x.x,x.x*hh<CR><LF>

№ Field/Parameter Description
$ Sentence start '$'
P Proprietary sentence
TNT Proprietery code ID
C Sentence identifier
1 Own location - latitude Latitude, signed, °
2 Own location - longitude Longitude, signed, °
3 Own location - depth Depth, m
4 Radial error Radial error (value of residual function in the end of solution, m
5 Buoy #1 latitude RedBASE №1 Latitude, signed, °
6 Buoy #1 longitude RedBASE №1 Longitude, signed, °
7 Buoy #2 latitude RedBASE №2 Latitude, signed, °
8 Buoy #2 longitude RedBASE №2 Longitude, signed, °
9 Buoy #3 latitude RedBASE №3 Latitude, signed, °
10 Buoy #3 longitude RedBASE №3 Longitude, signed, °
11 Buoy #4 latitude RedBASE №4 Latitude, signed, °
12 Buoy #4 longitude RedBASE №4 Longitude, signed, °
13 Temperature Water temperature, ˚C
* NMEA checksum separator
hh NMEA checksum
<CR><LF> end of sentence

2.1.5. IC_D2H_DPTTMP_VAL

Depth and water temperature.

Format: PTNTN,x.x,x.x*hh<CR><LF>

№ Field/Parameter Description
$ Sentence start '$'
P Proprietary sentence
TNT Proprietery code ID
N Sentence ID
1 Depth Depth, m
2 Temperature Water temperature, ˚C
* NMEA checksum separator
hh NMEA checksum
<CR><LF> end of sentence

2.1.6. IC_D2H_BUOY_STATUS

Statuses of buoys.

Format: $PTNTM,x.x,x.x,x.x,x,x.x,x.x,x.x,x,x.x,x.x,x.x,x,x.x,x.x,x.x,x*hh<CR><LF>

№ Field/Parameter Description
$ Sentence start '$'
P Proprietary sentence
TNT Proprietery code ID
M Sentence identifier
1 Buoy #1 latitude RedBASE №1 Latitude, signed, °
2 Buoy #1 longitude RedBASE №1 Longitude, signed, °
3 Buoy #1 SNR RedBASE №1 MSR2, dB
4 Buoy #1 status RedBASE №1 Status3
5 Buoy #2 latitude RedBASE №2 Latitude, signed, °
6 Buoy #2 longitude RedBASE №2 Longitude, signed, °
7 Buoy #2 SNR RedBASE №2 MSR2, dB
8 Buoy #2 status RedBASE №2 Status3
9 Buoy #3 latitude RedBASE №3 Latitude, signed, °
10 Buoy #3 longitude RedBASE №3 Longitude, signed, °
11 Buoy #3 SNR RedBASE №3 MSR2, dB
12 Buoy #3 status RedBASE №3 Status3
13 Buoy #4 latitude RedBASE №4 Latitude, signed, °
14 Buoy #4 longitude RedBASE №4 Longitude, signed, °
15 Buoy #4 SNR RedBASE №4 MSR2, dB
16 Buoy #4 status RedBASE №4 Status3
* NMEA checksum separator
hh NMEA checksum
<CR><LF> end of sentence

2 MSR (Main lobe to side peak ratio) - signal reception quality characteristic. Good reception conditions with values >= 20 dB.
3 Table of possible values (see 3.6.)

2.1.7. IC_D2H_PRETMP_VAL

Hydrostatic pressure and temperature of water.

Format: $PTNTO,x.x,x.x*hh<CR><LF>

№ Field/Parameter Description
$ Sentence start '$'
P Proprietary sentence
TNT Proprietery code ID
O Sentence ID
1 Pressure External hydrostatic pressure, mBar
2 Temperature Temperature of water, ˚C
* NMEA checksum separator
hh NMEA checksum
<CR><LF> end of sentence

2.1.8. IC_H2D_SET_VAL

Query for setting value of a local parameter.

Format: $PTNTP,x,x.x<CR><LF>

№ Field/Parameter Description
$ Sentence start '$'
P Proprietary sentence
TNT Proprietery code ID
P Sentence ID
1 Value ID Local parameter ID (see. 3.3.)
2 Value New value to set
* NMEA checksum separator
hh NMEA checksum
<CR><LF> end of sentence

2.2. Additional sentences

This group of messages includes requests to the device from the control system and device responses.

2.2.1. IC_D2H_ACK

Device acknowledgement.

Format: $PTNT0,x*hh<CR><LF>

№ Field/Parameter Description
$ Sentence start '$'
P Proprietary sentence
TNT Proprietery code ID
0 Sentence ID
1 errCode Error code (see 3.2.)
* NMEA checksum separator
hh NMEA checksum
<CR><LF> end of sentence

2.2.2. IC_H2D_LOC_DATA_GET

Query for a local parameter value.

Format: $PTNT4,xx,00*hh<CR><LF>

№ Field/Parameter Description
$ Sentence start '$'
P Proprietary sentence
TNT Proprietery code ID
4 Sentence ID
1 dataID Parameter ID (see 3.3.)
2 reserved should be '00'
* NMEA checksum separator
hh NMEA checksum
<CR><LF> end of sentence

2.2.3. IC_D2H_LOC_DATA_VAL

Device's response to IC_H2D_LOC_DATA_GET and IC_H2D_SET_VAL sentences.

Format: $PTNT5,x,x<CR><LF>

№ Field/Parameter Description
$ Sentence start '$'
P Proprietary sentence
TNT Proprietery code ID
5 Sentence ID
1 Requested data ID Parameter ID (see. 3.3.)
2 Value Queried value
* NMEA checksum separator
hh NMEA checksum
<CR><LF> end of sentence

2.2.4. IC_D2H_DEV_INFO_VAL

Device's responce to IC_D2H_LOC_DATA_GET, if the queried parameter ID = LOC_DATA_DEV_INFO.

Format: $PTNT!,c--c,x,x,c--c,x,c--c<CR><LF>

№ Field/Parameter Description
$ Sentence start '$'
P Proprietary sentence
TNT Proprietery code ID
! Sentence ID
1 System moniker System name
2 System version System version (BCD)
3 Communication subsystem moniker Communication subsystem name
4 Communication subsystem version Communication subsystem version (BCD)
5 Device type Device type (see 3.1.)
6 Serial number Serial number
* NMEA checksum separator
hh NMEA checksum
<CR><LF> end of sentence

2.2.5. IC_H2D_SNT_ENABLE

Enablind and disabling sentences output.

Format: $PTNTQ,b,b,b,b,b,b,b*hh<CR><LF>

№ Field/Parameter Description
$ Sentence start '$'
P Proprietary sentence
TNT Proprietery code ID
Q Sentence ID
1 isMTW MTW (0 - disabled, 1 - enabled)
2 isGGA GGA (0 - disabled, 1 - enabled)
3 isRMC RMC (0 - disabled, 1 - enabled)
4 isM TNTM (0 - disabled, 1 - enabled)
5 isC TNTC (0 - disabled, 1 - enabled)
6 isN TNTN (0 - disabled, 1 - enabled)
7 isO TNTO (0 - disabled, 1 - enabled)
* NMEA checksum separator
hh NMEA checksum
<CR><LF> end of sentence

2.2.6. IC_H2D_ACT_INVOKE

Query for a service operation.

Format: $PTNT6,xx,00*hh<CR><LF>

№ Field/Parameter Description
$ Sentence start '$'
P Proprietary sentence
TNT Proprietery code ID
6 Sentence ID
1 Action ID Service operation ID (see 3.4.)
2 Reserved Reserved, should be '00'
* NMEA checksum separator
hh NMEA checksum
<CR><LF> end of sentence

3. Tables of identifiers

3.1. Device types

Value Name Description
'0' DEVICE_REDBASE RedBASE
'1' DEVICE_REDNODE RedNODE
'2' DEVICE_REDNAV RedNAV
'3' DEVICE_REDGTR RedGTR

3.2. Error codes

Value Name Description
'0' NO_ERROR Query accepted
'1' INVALID_SYNTAX Syntax is invalid
'2' UNSUPPORTED Not supported query
'3' TRANSMITTER_BUSY Acoustic transmitter is busy
'4' ARGUMENT_OUT_OF_RANGE Specified argument is out of range
'5' INVALID_OPERATION Specified operation can not be performent at this moment
'6' UNKNOWN_FIELD_ID Specified field ID is unknown
'7' VALUE_UNAVAILIBLE Queried parameter value is not available at this moment
'8' RECEIVER_BUSY Acoustic receiver is busy

3.3. Local parameters identifiers

Value Name Description RO/RW4
'0' DEVICE_INFO Information about the device, serial number and FW version RO
'1' MAX_REMOTE_TIMEOUT Maximal timeout, msec RO
'2' MAX_SUBSCRIBERS Not supported RO
'3' DEPTH Depth, according to built-in depth sensor RO
'4' TEMPERATURE Temperature, according to built-in temperature sensor RO
'5' BAT_CHARGE Not supported RO
'6' PRESSURE_RATING Maximal external hydrostatic pressure, bar RO
'7' ZERO_PRESSURE Pressure on the water surface, mBar RW
'8' WATER_DENSITY Water density, kg/m3 RO
'9' SALINITY Water salinity, PSU RW
'10' SOUND_SPEED Speed of sound, m/s RW
'11' GRAVITY_ACC Gravity acceleration, m/s2 RO
'12' YEAR Year RW
'13' MONTH Month RW
'14' DATE Day of month RW
'15' HOUR Hour RO
'16' MINUTE Minute RO
'17' SECOND Second RO

4 RO - Read-Only; RW - read/write.

3.4. Service actions identifiers

Value Name Description
'0' LOC_INVOKE_FLASH_WRITE Save settings to internal flash
'1' LOC_INVOKE_CLEAR_WAYPOINTS Not supported
'2' LOC_INVOKE_CLEAR_TRACK Not supported
'3' LOC_INVOKE_CLEAR_NDTABLE Not supported
'4' LOC_INVOKE_DPT_ZERO_ADJUST Set current pressure as a pressure on the water surface

3.5. Fix types

Value Name Description
'0' NO_FIX Location is not available
'1' GNSS_FIX Location is based on GNSS data

3.6. Buoy status

Value Name Description
'0' BSTS_NO_DATA State is unknown
'1' BSTS_TIMEOUT Timeout
'2' BSTS_DISCHARGED Buoy is alive and used in navigation, but its battery shall be charged as soon as possible
'3' BSTS_OK Buoy is alive and used in navigation
'4' BSTS_ALIVE Bouy is alive, but the data about its battery charge has not updated yet

Back to contents