JAVAD GREIS GNSS Receiver External Interface User Guide

Momwe GREIS Amagwiritsidwa Ntchito: Amagwiritsidwa ntchito kupititsa patsogolo magwiridwe antchito ndi kulondola kwa machitidwe a GNSS.
Mndandanda: Onani bukhuli kuti mupeze mndandanda watsatanetsatane wazinthu zothandizidwa ndi magwiridwe antchito.

Zolinga: Onani zinthu zosiyanasiyana zomwe zingagwiritsidwe ntchito ndi GREIS pazinthu zinazake.

Chilankhulo Cholowetsa Cholandila

Chilankhulo cholowetsa cholandirira chimalola ogwiritsa ntchito kulumikizana ndi chipangizocho pogwiritsa ntchito malamulo ndi mawu enaake. Nayi mwachiduleview:

Chinenero Eksampzochepa: Phunzirani kuchokera ku zomwe zaperekedwa kaleamples kumvetsa mmene kulankhula ndi chipangizo.
Chiyankhulo cha Chinenero: Dzidziwitseni ndi malamulo a syntax potumiza malamulo kwa wolandila.

Malamulo: Gwiritsani ntchito malamulo osiyanasiyana kuti muwongolere ndikusintha chipangizocho potengera zomwe mukufuna.

Mauthenga Olandila

Kumvetsetsa mauthenga olandila ndikofunikira pakutanthauzira deta komanso zambiri zamakhalidwe. Nazi zomwe muyenera kudziwa:

Misonkhano Yachigawo: Tsatirani mitundu ndi zikhalidwe zomasulira mauthenga molondola.
Mayendedwe Okhazikika a Mauthenga: Onani momwe mauthenga amagwiritsidwira ntchito nthawi zonse.

FAQs

Q: Kodi ndingasinthe firmware ya GREIS GNSS Receiver?
A: Ayi, kusintha firmware sikuloledwa malinga ndi malamulo a copyright a JAVAD GNSS.

Q: Ndingapeze bwanji chithandizo pazovuta zaukadaulo zokhudzana ndi GREIS GNSS Receiver?
A: Kuti mupeze chithandizo chaukadaulo, chonde lemberani JAVAD GNSS mwachindunji kuti muthandizidwe.

View Fullscreen

Zikomo pogula cholandila chanu cha JAVAD GNSS. Zipangizo zomwe zilipo mu Buku lolozera ili ("Guide") zakonzedwa ndi JAVAD GNSS, Inc. kwa eni ake azinthu za JAVAD GNSS. Zapangidwa kuti zithandizire eni ake kugwiritsa ntchito wolandila ndipo kugwiritsa ntchito kwake kumatengera izi ("Terms and Conditions").

Migwirizano ndi zokwaniritsa
KUGWIRITSA NTCHITO KAKHALIDWE ZOTSATIRA ZA JVAD GNSS zidapangidwa kuti zizigwiritsidwa ntchito ndi akatswiri. Wogwiritsa ntchito akuyembekezeka kukhala ndi chidziwitso chabwino komanso kumvetsetsa kwa wogwiritsa ntchito ndi malangizo achitetezo asanagwiritse ntchito, kuyang'ana kapena kusintha. Nthawi zonse valani zodzitchinjiriza zofunika (nsapato zachitetezo, chisoti, ndi zina zotere) mukamagwiritsa ntchito cholandila.

CHONCHOKERA CHISINDIKIZO KUPOKERA CHILICHONSE CHILI CHILI MTSOGOLO UNO KAPENA KHADI LOTHANDIZA LIMODZINA NDI PRODUCT, ZINTHU ZIMENE ZINACHITIKA NDI WOLANDIRA AMAPEREKA “MONGA ALI.” PALIBE ZINTHU ZINA. JAVAD GNSS IKUSINTHA CHITIDZO CHILICHONSE CHAKUGWIRIZANA NTCHITO KAPENA KUKHALIRA PAMENE MUKUGWIRITSA NTCHITO KAPENA CHOLINGA CHONSE. JAVAD GNSS NDI WOGAWIRIRA AKE SADZAKHALA NDI ZOPHUNZITSA ZA NTCHITO KAPENA ZOSINTHA KAPENA ZOSINTHA ZILI MMODZI; KAPENA PA ZOYANG'ANIRA KAPENA ZONSE ZONSE ZOMWE ZOMWE ZINACHITIKA NDI ZOPHUNZITSA, KACHIWIRI KAPENA KUGWIRITSA NTCHITO CHINTHU IZI KAPENA WOLANDIRA. ZOWONONGA ZOMWE ZOSANGALALA ZIMENEZI ZIKUPHAMIKIZAPO KOMA SIZIKUKHALA NDI KUTAYIKIRA NTHAWI, KUTHA KAPENA KUWONONGEDWA KWA DATA, KUTHA KWA PHINDU, KUCHULUKA KAPENA NDALAMA, KAPENA KUTAYIKA KAGWIRITSA NTCHITO ZOCHITIKA. KUWONJEZERA, JAVAD GNSS ILIBE UDINDO KAPENA NTCHITO ZOWONONGEKA KAPENA MTIMA WOPHUNZITSIRA POPEZA ZINTHU ZOKHUDZA MALOWA KAPENA SOFTWARE, ZOFUNIKA KWA ENA, ZOVUTIKA, KAPENA MTIMA ULIWONSE. CHONCHO CHILICHONSE, JAVAD GNSS SIDZAKHALA NDI NDONDOMEKO YA ZONONGA KAPENA KWA INU KAPENA MUNTHU ALIYENSE KAPENA BUNTHU POPOSA MTENGO WOGULIRA KWA WOLANDIRA.
KUGWIRITSA NTCHITO PHUNZIRO Kugwiritsa ntchito mapulogalamu aliwonse apakompyuta kapena mapulogalamu operekedwa ndi JAVAD GNSS kapena kukopera kuchokera ku JAVAD GNSS webtsamba ("Mapulogalamu") okhudzana ndi wolandila ndikuvomereza Migwirizano ndi Zikhalidwe izi mu Bukhuli ndi mgwirizano wotsatira Migwirizano ndi Zikhalidwe izi. Wogwiritsa amapatsidwa laisensi yaumwini, yosakhala yekha, yosasunthika kuti agwiritse ntchito Mapulogalamuwa molingana ndi mfundozo.

MAWU OLANKHULIDWA Migwirizano ndi Zokwaniritsa
zanenedwa pano ndipo mulimonse momwe zingakhalire ndi wolandila m'modzi kapena kompyuta imodzi. Simungagawire kapena kusamutsa Mapulogalamu kapena laisensi iyi popanda chilolezo cholembedwa cha JAVAD GNSS. Layisensiyi imagwira ntchito mpaka itathetsedwa. Mutha kuletsa chiphaso nthawi iliyonse ndikuwononga Mapulogalamu ndi Maupangiri. JAVAD GNSS ikhoza kuthetsa chiphasochi ngati mukulephera kutsatira Migwirizano kapena Zokwaniritsa. Mukuvomera kuwononga Mapulogalamu ndi Malangizo mukamaliza kugwiritsa ntchito wolandila. Eni ake onse, kukopera ndi maufulu ena aluntha mkati ndi mu Mapulogalamuwa ndi a JAVAD GNSS. Ngati mawu alayisensiwa sakuvomerezedwa, bweretsani mapulogalamu aliwonse osagwiritsidwa ntchito ndi malangizo.

CHINSINSI Bukuli, zomwe zili mkati mwake ndi Mapulogalamu (pamodzi, "Zachinsinsi") ndi zinsinsi komanso zachinsinsi za JAVAD GNSS. Mukuvomera kuchitira Chinsinsi cha JAVAD GNSS 'mwachisamaliro mosachepera momwe mungagwiritsire ntchito mosamala zinsinsi zanu zamalonda zamtengo wapatali. Palibe chilichonse m'ndimeyi chomwe chidzakulepheretseni kuulula Zachinsinsi kwa antchito anu ngati pangafunike kapena koyenera kuti mugwiritse ntchito kapena kusamalira wolandila. Ogwira ntchito ngati amenewa ayeneranso kusunga Chinsinsi Chachinsinsi. Ngati mwakakamizika mwalamulo kuulula Zinsinsi Zachinsinsi, mudzadziwitsa JAVAD GNSS mwachangu kuti ipeze chilolezo choteteza kapena chithandizo china choyenera.
WEBMALO; ZINTHU ZINA Palibe mawu omwe ali mu JVAD GNSS webtsamba (kapena china chilichonse webtsamba) kapena muzotsatsa zina zilizonse kapena zolemba za JAVAD GNSS kapena zopangidwa ndi wogwira ntchito kapena kontrakitala wodziyimira pawokha wa JAVAD GNSS amasintha Migwirizano ndi Zikhalidwe izi (kuphatikiza laisensi ya Mapulogalamu, chitsimikizo ndi malire azovuta).
CHITETEZO Kugwiritsa ntchito molakwika wolandila kungayambitse kuvulala kwa anthu kapena katundu ndi/kapena kuwonongeka kwa chinthucho. Wolandirayo akuyenera kukonzedwa ndi malo ovomerezeka a JAVAD GNSS ovomerezeka.
ZOSIYANA Migwirizano ndi Migwirizano yomwe ili pamwambapa ikhoza kusinthidwa, kusinthidwa, kuchotsedwa, kapena kuletsedwa, nthawi iliyonse ndi JAVAD GNSS. Migwirizano ndi Migwirizano yomwe ili pamwambayi idzayendetsedwa ndi, ndikufotokozedwa motsatira, malamulo a State of California, popanda kutsutsana ndi malamulo.

GREIS ndi chiyani
GREIS ndi chilankhulo cholumikizira chomwe chimathandiza wogwiritsa ntchito kulumikizana bwino ndi olandila GNSS mwa kupeza kuthekera kwawo ndi ntchito zawo zonse.
GREIS imayimira chilankhulo cholandirira chamitundu yonse ya zida za JAVAD GNSS. Chiyankhulochi sichimachilandira ndipo ndi chokonzeka kusinthidwa kapena kukula. GREIS idakhazikitsidwa panjira yolumikizana yomwe imalola wogwiritsa ntchito kuwongolera cholandila cha JAVAD GNSS pogwiritsa ntchito seti yoyenera yazinthu zotchulidwa. Kulankhulana ndi zinthu izi kumatheka kudzera m'malamulo ofotokozedwatu ndi mauthenga. Palibe zoletsa zenizeni pa nambala kapena mtundu wa zinthu zolandila zomwe zimagwiritsidwa ntchito.

Momwe GREIS Amagwiritsidwa Ntchito
Dongosolo lililonse lolumikizana ndi wolandila JAVAD GNSS kudzera m'modzi mwa madoko ake (serial, parallel, USB, Ethernet, etc.) adzagwiritsa ntchito malamulo ndi mauthenga a GREIS kuti akwaniritse ntchito yofunikira. Mapulogalamu awiri omwe GREIS imagwira ntchito yofunika kwambiri, choyamba, amagwiritsa ntchito owongolera m'manja kuti alankhule ndi olandila panthawi yofufuza ndi mapulojekiti a RTK kapena, chachiwiri, potsitsa deta kuchokera kwa olandila kupita kumakompyuta kuti atumizenso positi. kukonza. Ntchito yokonza positi yokha sigwiritsa ntchito malamulo a GREIS, koma imayenera kudziwa mauthenga a GREIS kuti atenge deta kuchokera ku deta. files.

Chofunikira chimodzi chofunikira pa GREIS ndikuti itha kugwiritsidwa ntchito bwino pakuwongolera komanso kuwongolera pamanja kwa olandila a JAVAD GNSS. Kuti muwongolere pamanja, wogwiritsa ntchito alowetsa malamulo ofunikira a GREIS mu wolandila kudzera pa terminal. Izi ndizotheka mosavuta popeza GREIS idapangidwa kuti ikhale yowerengeka ndi anthu. Kumbali ina, GREIS imamvera malamulo okhwima omwe amapangitsa kuti ikhale yosavuta kugwiritsa ntchito ndi mapulogalamu.

Mndandanda
GREIS imagwiritsa ntchito kwambiri lingaliro la mindandanda. Mindandanda imagwiritsidwa ntchito m'chinenero cha olandila komanso m'mawu okhazikika.

MAU OYAMBA Zinthu
Mndandanda mu GREIS umaimiridwa ndi mndandanda wa zinthu zomwe zimadulidwa ndi koma (,, ASCII code 44), ndi zotsekeredwa mu braces ({}, ASCII zizindikiro 123 ndi 125):
{element1,element2,element3}
Zotsatira zake, zinthu za mndandanda zitha kukhala mndandanda:
{e1,{ee21,ee22},e3}
Chifukwa chake tanthauzo lomwe lili pamwambapa ndi lobwerezabwereza, kotero kuti mindandanda yakuya mopanda zisa iloledwa. Zinthu zomwe sizili mndandanda zimatchedwa masamba, kapena masamba chabe. Magawo amndandanda atha kukhala opanda kanthu, pomwe timati chinthucho chasiyidwa. Za example, pamndandanda womwe uli pansipa, chinthu chachiwiri sichinatchulidwe:
{e1,, e3}
Mipata isanakwane ndi pambuyo pogawa malire amaloledwa ndikunyalanyazidwa. Ngati zigawo za mndandanda zonse zili ndi chingwe chaching'ono (chiyambi) chofanana pachiyambi, chingwe chaching'onochi chikhoza kuchotsedwa pazitsulo zozungulira mndandandawo, mwachitsanzo,
mbali{1,2,3}
ndi lalifupi mawonekedwe a
{elem1,elem2,elem3}

Zinthu zitha kuphatikizidwa muzolemba ziwiri (", ASCII code 34) zomwe zimavulidwa pogawa. Mkati mwa chinthu chomwe chatchulidwa, zizindikiro zapadera (zingwe, comma, ndi zina zotero) zimataya udindo wawo ndipo zimatengedwa ngati zilembo zokhazikika. Kugwiritsiridwa ntchito kwina kwa mawu ndi kusiyanitsa pakati pa "chinthu sichinatchulidwe" ndi "chinthu chopanda kanthu". Choyambiriracho chikusonyezedwa ndikungosiya chinthu pamndandanda, ndipo chomalizacho chikuwonetsedwa ndikuyika mawu awiri obwereza pakati pa ma comma. Kutchula mawu kumathandizanso ngati munthu akufunika kukhala ndi malo otsogola kapena otsatizana ndi chingwe. Kuti muyike mawu awiri mu chinthu, tchulani chinthuchi ndikuthawa mawu awiri mkati ndi backslash character (, ASCII code 92). Kuti muyike nkhonya payokha mu chingwe chogwidwa mawu, thawani ndi kubwezeranso kwina, mwachitsanzoampLe:
Example: "Chingwe chokhala ndi "mawu", backslash \, ndi zilembo zapadera, {}"
1.4 Zinthu
Pankhani yachitsanzo chomwe GREIS idakhazikitsidwa, cholandila cha JAVAD GNSS chimadziwika ndi gulu lazinthu zotchulidwa.

GREIS

www.javad.com

MAU OYAMBA Zinthu
Zozindikiritsa Zinthu
Chinthu chimatanthauzidwa ngati hardware kapena mapulogalamu a wolandila omwe amatha kuyankhidwa, kukhazikitsidwa, kapena kufunsidwa. Mabungwe a Hardware amatchulidwa kuti zida, pomwe zinthu za firmware nthawi zambiri zimakhala files ndi magawo. Madoko olandila ndi ma module amakumbukiro onse ndiabwinoampzochepa za zida. Zida zonse, files ndi magawo amachitidwa chimodzimodzi ndi GREIS. Chilichonse chimakhala ndi zida zofananira zomwe zitha kupezeka, kufotokozedwa, ndi / kapena kusinthidwa kudzera mu GREIS.

1.4.1 Zozindikiritsa Zinthu
Zanenedwa kale kuti wolandila amatengedwa ngati gulu la zinthu (zida, files, mauthenga, magawo, ndi zina) m'mawu amtundu wa GREIS. Pofuna kuthana ndi zinthu zomwe zili m'malamulo olandila, chizindikiritso chapadera chiyenera kuperekedwa kwa chinthu chilichonse.

Zinthu zomwe zili mu wolandila zimakonzedwa m'magulu. Gulu lokhalonso ndi chinthu ndipo ndi la gulu lina pokhapokha ngati ndi mizu. Chifukwa chake zinthu zonse zomwe zili mu wolandila zimasanjidwa m'magulu ngati mtengo kuyambira pagulu limodzi la mizu. Choyimira ichi chikufanana ndi bungwe la files m'mafoda (mafoda) omwe ogwiritsa ntchito makompyuta ambiri amawadziwa.
Mu GREIS, magulu azinthu amaimiridwa ngati mndandanda wa mayina azinthu ofanana. Dzina la chinthucho ndi lapadera mkati mwa mndandanda wa chinthucho. Chizindikiritso cha chinthu chapadera padziko lonse lapansi chimatanthauzidwa ngati mayina onse a chinthu chomwe chili panjira yodutsa mumtengo kuchokera pamizu kupita ku chinthucho, chodulidwa ndi slash yakutsogolo (/). Mndandanda wa mizu wokha umadziwika ndi kukwapula kumodzi.
Exampzizindikiro za zinthu ndi:
Example: Gulu la mizu:
/
Example: Receiver electronic ID:
/par/rcv/id
Example: Serial Port A mlingo wa baud:
/par/dev/ser/a/rate
Example: Makhalidwe (kukula ndi nthawi yomaliza yosinthidwa) ya file DZINA (file Makhalidwe ndi osiyana ndi zomwe takambirana pansipa):
/log/NAME
Example: NMEA GGA chiganizo:

GREIS

www.javad.com

MAU OYAMBA Kutulutsa Nthawi ndi Nthawi
Mitundu ya Zinthu
/msg/nmea/GGA
Zinthu zonse zimakhala ndi chimodzi kapena zingapo zomwe zimagwirizanitsidwa nazo. Makhalidwe a chinthu amazindikiridwa powonjezera & khalidwe ndi dzina lachidziwitso ku chinthu chozindikiritsa. Lingaliro lalikulu la chinthu chilichonse ndi mtengo. Izi nthawi zonse zimafikiridwa mosabisa ndi malamulo a GREIS. Zina mwazinthu zitha kukhala ndi zina zowonjezera, mwachitsanzoample: Eksample: serial port A default baud rate:
/par/dev/ser/a/rate&def
Example: Zomwe zili mu file NAME:
/log/NAME&content
1.4.2 Mitundu ya Zinthu
Chilichonse chomwe wolandila chili ndi mtundu wa GREIS wogwirizana nacho. Mtundu wa chinthu umatanthauzira machitidwe ake polemekeza malamulo a GREIS. Mwachindunji, mtunduwo umatanthawuza kuti chinthucho chingatenge chiyani komanso malamulo omwe amagwiritsidwa ntchito pa chinthucho.
Onani "Mitundu Yazinthu Zoyambirira" patsamba 184 kuti mufotokoze mwatsatanetsatane zamitundu yomwe ikugwiritsidwa ntchito pano.

GREIS

1.5 Kutulutsa Kwanthawi

Udindo wofunikira pakugwira ntchito kwa wolandila umakhala ndi kuthekera kotulutsa zidziwitso nthawi ndi nthawi, monga mitundu yosiyanasiyana ya miyeso, mawerengedwe owerengeka, ndi zina zambiri, malinga ndi ndandanda yodziwika. GREIS imatanthauzira mauthenga ambiri okhala ndi mitundu yosiyanasiyana yazidziwitso m'mawonekedwe osiyanasiyana omwe ndi mayunitsi ochepa otulutsa, ndipo imapereka njira zofunsira kutulutsa kwapang'onopang'ono kwa mauthengawa mwanjira iliyonse ku media iliyonse yothandizidwa yoyenera kutulutsa deta. Sing'anga iliyonse yothandizidwa yoyenera kutulutsa deta imatchedwa kutuluka kwa GREIS.
Pamtundu uliwonse wotuluka, wolandila amakhala ndi mndandanda wa mauthenga omwe pakali pano amathandizidwa kuti atulutsidwe kumtsinjewo, wotchedwa list output. Dongosolo lomwe mauthenga amatuluka, amafanana ndi dongosolo la mauthenga omwe ali mumndandanda wazotulutsa. Kuphatikiza apo, uthenga uliwonse womwe umapezeka pamndandanda wazotulutsa umakhala ndi magawo ake omwe amawongolera omwe amagwirizana nawo. Kukonzekera magawo ophatikizidwa ndi uthenga mumndandanda wazotulutsa kumatanthawuza ndandanda ya kutulutsa kwa uthenga womwewu mumtsinje womwewu. GREIS imapereka magawo atatu

www.javad.com

MAU OYAMBA Nthawi Yotulutsa ndi Gawo
mands, em, out, ndi dm, kulola kuwongolera koyenera kwa mindandanda yazotulutsa ndi magawo akukonzekera.
Magawo okonzekera mauthenga ali ndi magawo anayi: nthawi, gawo, kuwerengera, ndi mbendera, iliyonse imagwira ntchito yosiyana pakutanthauzira kwa ndandanda. Pansipa tifotokoza momwe zikhalidwe zawo zimakhudzira zotulutsa, koma kwenikweni, nthawiyo imanena za nthawi pakati pa zotuluka za uthenga; gawo limatchula kusintha kwa nthawi kwa mphindi zotulutsa potengera nthawi yomwe nthawi yamakono ikuchulukirachulukira; kuwerengera, kukakhala kwakukulu kuposa ziro, kumachepetsa kuchuluka kwa nthawi zomwe uthengawo udzatulutsidwe; pomwe mbendera filed imalola kusintha kwabwino kwa njira yotulutsa.

1.5.1 Nthawi Yotulutsa ndi Gawo

Zindikirani:

Nthawi ndi magawo a magawo azinthu zokonzera uthenga ndi mayendedwe oyandama mumasekondi [0…86400). Tanthauzo lawo lenileni likufotokozedwa pansipa.
Pamene F_CHANGE pang'ono aikidwa mu mbendera m'munda wa magawo ndandanda, gawo gawo kumasuka ntchito yake mwachizolowezi ndi kukhala "kukakamizidwa linanena bungwe nthawi" m'malo. Onani kufotokozera za mbendera ya F_CHANGE pansipa kuti mumve zambiri.
Wolandirayo ali ndi gridi yanthawi yake yamkati yomwe imatanthauzidwa ndi wotchi yolandila ndi mtengo wa /par/raw/curmsint parameter yomwe imatanthawuza gawo la olandila mkati mwa nthawi. Nthawi zamkati zolandila zimachitika pomwe nthawi yolandila imachulukirachulukira. Komanso, nthawi yolandila imatanthauzidwa ngati mtengo wa wolandila wotchi tsiku limodzi (86400 masekondi). Receiver amasanthula mindandanda yazotulutsa zokha pa nthawi yolandirira mkati, kuti pasapezeke zotulutsa zomwe zingatulutsidwe pafupipafupi kuposa pamenepo.
Poganizira za gridi yanthawi yamkati, zosintha za nthawi ndi magawo zimatanthauzira nthawi yotulutsa uthenga motere: wolandila amangotulutsa uthengawo panthawi yolandila.

Nthawi ya Toutmod = gawo

(1)

Zovuta = N sitepe (2)

GREIS

pomwe N ndi nambala yophatikizika yomwe imatenga zikhalidwe [0,1,2,…,(86400/step) -1].
Equation yoyamba imatanthawuza lamulo lofunikira la kutulutsa mauthenga, ndipo yachiwiri imayika zopinga zina zokhudzana ndi nthawi zolandirira mkati. Zindikirani kuti nthawi zonse, nthawi ndi gawo zikakhala zochulukitsa masitepe, equation yachiwiri imakhutitsidwa yokha nthawi iliyonse equation yoyamba ikakhutitsidwa. Komanso dziwani kuti ngati
86400 (nthawi yamakono) 0,

www.javad.com

MAU OYAMBA Kutulutsa Nthawi ndi Nthawi
Kuwerengera Zotulutsa

ExampLe:
Example: EksampLe:

nthawi yeniyeni pakati pa uthenga wotsiriza womwe unatumizidwa tsiku lisanafike rollover ndi uthenga woyamba pambuyo pa rollover tsiku lidzakhala losiyana ndi mtengo wa nthawi.
Taganizirani za anthu angapo akaleampkufotokoza ndondomeko iyi:
Tiyerekeze kuti nthawi ndi 10s, gawo ndi 2.2s, ndipo sitepe ndi 0.2s. Monga Tout, molingana ndi equation yachiwiri, imatha kutenga zikhalidwe zomwe zimachulukirachulukira, gawo lakumanzere la equation yoyamba litenga izi: 0, 0.2, 0.4, ..., 9.8, 0, ..., komwe mtengo wokhawokha. 2.2 machesi gawo. Machesi awa adzachitika, ndipo uthengawo udzatulutsidwa, nthawi iliyonse Tout atenga chimodzi mwazinthu zotsatirazi: 2.2s, 12.2s, 22.2s, etc.
Tiyerekeze kuti nthawi ndi 10s, gawo ndi 2.2s, ndipo sitepe ndi 0.5s. Wolandira sangatulutse uthengawo chifukwa ma equation omwe ali pamwambapa sakhutitsidwa.
Tiyerekeze gawo > nthawi. Wolandira sangatulutse uthengawo konse chifukwa equation yoyamba sidzakhutitsidwa.

1.5.2 Kuwerengera Zotuluka

Zindikirani:

Gawo lowerengera la magawo okonzekera uthenga ndi mtengo wokwanira [-256…32767) ndipo umagwira ntchito ziwiri zosiyana:
1. Pamene chiwerengero ndi 0, zopanda malire chiwerengero cha mauthenga adzakhala linanena bungwe. Kuwerengera kukakhala kwakukulu kuposa 0, kumatanthawuza kangati uthengawo udzatulutsidwa. Pankhaniyi, kauntala imachepetsedwa ndi 1 nthawi iliyonse uthengawo utuluka, ndipo ikakhala 0, F_DISABLED bit imayikidwa m'munda wa mbendera. Wokonza mauthenga satulutsa mauthenga okhala ndi F_DISABLED bit set.
2. Pamene kuwerengera kuyikidwa pamtengo mumtundu [-256…-1], kutulutsa kwa uthenga sikutsekeredwa, ndipo gawo lowerengera limagwira ntchito yosiyana. Imathandizira kukulunga kwa uthengawo kukhala wapadera [>>] uthenga musanatuluke (onani "[>>] Wrapper" patsamba 132). Mtengo wowerengera umagwiritsidwa ntchito kukhazikitsa gawo la id mu uthenga wopangidwa [>>] kuti id ikhale yofanana ndi (-1 - count).
Kuzimata ndikothandiza, mwachitsanzoample, pa pulogalamu ya seva yomwe imalandira mauthenga kuchokera kwa wolandila ndikutumiza kwa makasitomala angapo. Itha kupempha kukutidwa kwa mauthenga osagwirizana mu [>>] mauthenga okhala ndi zozindikiritsa zosiyanasiyana, kumasula mauthenga olandiridwa, ndi kutumiza deta kwa kasitomala (makasitomala) kutengera id yolandiridwa. Pogwiritsa ntchito izi, pulogalamu yotereyi sifunika kudziwa mawonekedwe ena aliwonse a data koma mawonekedwe a [>>] uthenga, ndipo amatha kugwiritsa ntchito njira imodzi yolumikizirana ndi wolandila kuti alandire ndikutumiza mauthenga osiyanasiyana.

GREIS

www.javad.com

1.5.3 Zikwangwani Zotulutsa

MAU OYAMBA Kutulutsa Nthawi ndi Nthawi
Linanena bungwe mbendera

Munda wa mbendera wa magawo okonzekera uthenga ndi gawo la 16-bit wide bit-field. Gawo lililonse la gawoli ndi mbendera yosiyana ndipo limagwira ntchito zosiyanasiyana. Zotsatirazi ndi mndandanda wa uthenga ndandanda mbendera.
Gulu 1-1. Mbendera Zokonzera Mauthenga

pang'ono#
0 1 2 3 4 5 6 7 8 9 10 11 12

HEX
0x0001 0x0002 0x0004 0x0008 0x0010 0x0020 0x0040 0x0080 0x0100 0x0200 0x0400 0x0800 0xF000

Dzina
F_OUT F_CHANGE F_OUT_ON_ADD F_NOTENA F_FIX_PERIOD F_FIX_PHASE F_FIX_COUNT F_FIX_FLAGS yosungidwa yosungidwa F_DISABLED yosungidwa

Chidziwitso: Mayina a minda akufotokozedwa pano ndi cholinga chowatchula m'bukuli. Palibe njira yowagwiritsira ntchito m'malamulo a GREIS.

F_OUT Ngati mbenderayi yakhazikitsidwa, mauthenga oyambirira atatha kuyitanitsa lamulo lofananalo adzatulutsidwa pa nthawi yolandira mkati yomwe ili pafupi kwambiri ndi nthawi yoperekera lamulo mosasamala kanthu za zomwe zatchulidwa ndi nthawi yokonzekera.
F_CHANGE Ngati mbenderayi yakhazikitsidwa, uthenga wofananawo udzatulutsidwa pokhapokha ngati uthengawo wasintha kuchokera pamene uthengawo unatulutsidwa kumtsinje womwe waperekedwa. Wolandira amayang'ana ngati uthenga wa uthenga wasintha pokhapokha pa nthawi zomwe zimatanthauzidwa ndi ma equation (1), (2) pamene kusintha kwa gawo kumayikidwa ku ziro, ndipo kusintha kwa nthawi kumayikidwa ku mtengo wa nthawi. The uthenga ndandanda parameter gawo, amene amataya ntchito yake yapachiyambi mu nkhani iyi, tsopano amasewera udindo wokakamiza linanena bungwe nthawi. "Kutulutsa mokakamiza" kumatanthauza kuti uthenga wogwirizanawo udzatulutsidwa ngati zomwe zili mkati mwake zidzasintha kapena ayi panthawi yomwe ikufotokozedwa ndi ma equation (1), (2) pamene kusintha kwa nthawi kumayikidwa ku mtengo wa gawo, ndi gawo. variable imayikidwa ku zero. Ngati gawo lamunda ndi zero, ndiye kuti wolandila sachita zokakamiza kuti uthenga wofananira utulutsidwe pokhapokha ngati zomwe zasintha.

GREIS

www.javad.com

MAU OYAMBA Kutulutsa Nthawi ndi Nthawi
Linanena bungwe mbendera
F_OUT_ON_ADD Ngati mbendera iyi yakhazikitsidwa, ndiye kuti uthenga woyamba udzatulutsidwa mutangomaliza kupereka lamulo lofanana la em kapena out. Mbendera iyi imanyalanyazidwa pamawu ambiri1.
F_NOTENA Ngati mbendera iyi yakhazikitsidwa kuti ikhale uthenga womwe uli mumndandanda wazotulutsa, mbendera ya F_DISABLED ya uthengawu sidzachotsedwa uthengawo ukayatsidwa, chifukwa chake kutulutsa kwake kudzayimitsidwa. Za exampLero, mbendera iyi imagwiritsidwa ntchito kuti isatulutse ena mwa mauthenga kuchokera ku mauthenga osasintha pamene wogwiritsa ntchito asintha nthawi yotulutsa pa ntchentche, popanda kuletsa zotulukapo.
F_FIX_PERIOD, F_FIX_PHASE, F_FIX_COUNT, F_FIX_PERIOD Pokhazikitsidwa ku 1 muzosankha, ziletsa kusintha kwa magawo ofanana a magawo awa ndi malamulo otuluka.
F_DISABLED Simakonzedweratu ndi wogwiritsa ntchito. Pamene wina atsegula uthenga wokhala ndi chiwerengero chabwino, ndiye, uthengawu utatha kuwerengera nthawi, wokonza uthenga amayika mbendera iyi ku 1. Mbendera iyi imachotsedwa ku 0 pamene uthengawo wayatsidwanso, pokhapokha ngati mbendera ya F_NOTENA yakhazikitsidwa. uthenga uwu.

1. Panopa mauthenga awiri okha a GREIS, [JP] ndi [MF], omwe amalemekeza mbenderayi.

GREIS

www.javad.com

Mutu 2
CHINENERO CHOCHOKERA PAMODZI

Mutuwu ukufotokoza za kalembedwe ka mawu ndi semantics ya chinenero cholowetsamo wolandira. Timayamba ndi ma examples kupereka owerenga kumverera kwa chinenerocho, ndiyeno tembenuzirani ku matanthauzo atsatanetsatane a mawu, ndiyeno fotokozani malamulo onse ofotokozedwa pamodzi ndi semantics yawo.

2.1 Chiyankhulo Eksamples

Nawa ochepa akaleampzowerengera zenizeni zomwe wolandila amamvetsetsa limodzi ndi mayankho olandila. Mupeza zambiri zakaleampkugwiritsa ntchito malamulo enaake m'magawo ofanana. Zolowetsa kwa wolandila zimayikidwa chizindikiro, pomwe zotulutsa zolandila zimayikidwa chizindikiro:

Example: Funsani wolandila kuti asindikize ID yake yamagetsi. Wolandila amatulutsa uthenga woyankha womwe wawonetsedwa:

ExampLe:

sindikiza,/par/rcv/id RE00C QP01234TR45
Funsani wolandila kuti akhazikitse kuchuluka kwa baud pa sikelo port A kukhala 9600. Wolandirayo amaliza kulamula ndipo sayankha.

set,/par/dev/ser/a/rate,9600
Example: Gwiritsani ntchito lamulo lomwelo monga lakale lakaleample, koma kakamizani wolandila kuti ayankhe pogwiritsa ntchito chizindikiritso cha mawu.

ExampLe:

%set_rate% set,/par/dev/ser/a/rate,9600 RE00A%set_rate%
Yesani kukhazikitsa chiwopsezo chokwera kwambiri. Wolandira amayankha ndi uthenga wolakwika ngakhale sitinagwiritse ntchito chizindikiritso cha mawu.

set,/par/dev/ser/a/rate,1000000 ER016{4,value out of range}

Zindikirani:

Wolandira nthawi zonse amayika mayankho ake abwinobwino komanso olakwika mu mauthenga awiri, [RE] ndi [ER], motsatana. Kuti mudziwe zambiri za mtundu wa mauthenga a GREIS, onani "Mawonekedwe Onse a Mauthenga" patsamba 64. Mauthenga a [RE] ndi [ER] amafotokozedwa mu "Interactive Messages" patsamba 129.

GREIS

www.javad.com

RECEIVER INPUT LANGUAGE Language Syntax
2.2 Chilankhulo cha Syntax
GREIS imatanthawuza mizere ya zilembo za ASCII zautali wosasintha1, wodulidwa ndi kagayidwe-kubwerera ( , ASCII decimal nambala 13), kapena mzere-chakudya ( , ASCII decimal code 10) zilembo, kukhala zigawo zapamwamba za chilankhulo. Mizere yopanda kanthu imaloledwa ndikunyalanyazidwa mu GREIS. Chifukwa chake, mzere ukhoza kugawidwa ndi kuphatikiza kulikonse kwa ndi/kapena zilembo. Imalola GREIS kuthandizira mosasunthika ma Windows TM, MacTM, ndi UNIXTM mzere womaliza misonkhano.
Chilankhulo cha wolandila chimakhala chosavuta kumva. Zikutanthauza kuti, mwachitsanzoample, zingwe GREIS, greis, ndi gReIs, pokhala zingwe zosiyana, zimaganiziridwa monga choncho ndi wolandira.
Chizindikiro cha nambala (#, ASCII code 35) ndiye mawu oyambira. Wolandira amanyalanyaza chilichonse kuyambira munthu uyu mpaka kumapeto kwa mzere.
Ndemanga (ngati ilipo) ichotsedwa pamzere, wolandila amachotsa malo otsogola ndi otsata, kenako ndikuphwanya mzerewo kukhala ziganizo. Mawu amagawidwa ndi semicolon (;, ASCII code 59), kapena ndi awiri ampersands (&&, ASCII zizindikiro 38), kapena ndi mipiringidzo iwiri yoyimirira (||, ASCII zizindikiro 124). Ndemanga zomwe zili pamzere zimachitidwa mwadongosolo, kuchokera kumanzere kupita kumanja. Ngati mawu omwe amatha ndi && delimiter atulutsa cholakwika, mawu ena onse pamzerewo samachitidwa. Ngati mawu omwe amatha ndi || delimiter ikuchita bwino, mawu ena onse pamzere sakuchitidwa. Mawu omwe amathera mu semicolon sasiya kutsata ndondomeko ya ziganizo. Zindikirani kuti mapeto a mzere ali pawokha mawu terminator, kotero simuyenera kuyika chimodzi cha ziganizo zomveka bwino kumapeto kwa mzerewu.
Maonekedwe a chiganizo ali motere:
[%ID%][COMMAND][@CS] pomwe mabulaketi sikweya amaimira magawo omwe mwasankha, ndipo mipata yoyera ingaloledwe isanakwane kapena ikatha gawo lililonse. Malo oyera oterowo amanyalanyazidwa, kupatula cholinga chowerengera cheki, onani pansipa. Minda ndi:
%ID% chizindikiritso cha mawu, pomwe ID ikuwonetsa chingwe chokhazikika, chopanda kanthu. Chizindikiritso, ngati chilipo, chimakopedwa mosasinthika ndi wolandila ku uthenga woyankha wa mawuwo. Mawu aliwonse okhala ndi chizindikiritso nthawi zonse amatulutsa yankho kuchokera kwa wolandila. Mawu omwe ali ndi chizindikiritso chokha amaloledwanso; Zikatero, wolandirayo adzangotulutsa uthenga woyankha.
KOMAND mndandanda (mwina wopanda kanthu) pomwe chinthu choyamba chimatchedwa dzina lolamula. Zimatanthawuza zomwe zikuyenera kuchitika. Zina zonse (ngati zilipo) ndi lamulo

GREIS

1. Kukhazikitsa kwa GREIS pakali pano mwa olandila kumathandizira mizere yofikira zilembo 256 muutali.

www.javad.com

RECEIVER INPUT LANGUAGE Language Syntax
mikangano. Makatani omwe amazungulira mndandanda wamalamulo akhoza kuchotsedwa. Onani “Mndandanda” patsamba 19 kuti muone kalembedwe ka mindandanda. @CS checksum, pomwe CS ndi 8-bit checksum yopangidwa ngati 2-byte hexadecimal number. Asanapereke chiganizo ndi checksum, wolandirayo adzafanizitsa checksum CS ndi zomwe zidapangidwa ndi firmware ndipo adzakana kuchita zomwezo ngati ma checksums sakugwirizana. Checksum imawerengedwa kuyambira ndi munthu woyamba wopanda kanthu mpaka kuphatikiza @ character. Onani "Computing Checksums" patsamba 579 kuti mumve zambiri.
Chizindikiritso cha Statement, %ID%, chimagwira ntchito zotsatirazi:
1. Imakakamiza wolandila kuyankha ku lamulo. 2. Amalola kutumiza malamulo angapo okhala ndi zizindikiritso zosiyanasiyana kwa wolandila
osadikirira kuyankha kwa lamulo lililonse, ndiye landirani mayankhowo ndikuwuzani yankho lomwe likugwirizana ndi lamulo liti. 3. Imathandiza kukhazikitsa kulunzanitsa ndi wolandirayo polola kuwona kuti yankho la wolandila likugwirizana ndi lamulo linalake, osati ndi lamulo lina lomwe laperekedwa kale kapena pambuyo pake.
Mndandanda womwe umatchedwa zosankha ukhoza kuwonjezeredwa ku chinthu chilichonse cha COMMAND pambuyo pa colon (:, ASCII code 58). Ngati mndandanda wa zosankha uli ndi chinthu chimodzi, zomangira zozungulira zitha kuchotsedwa. Zosankha zomwe zawonjezeredwa pamndandandawu zimafalikira ku chinthu chilichonse chamndandanda, ngakhale zosankha zomwe zawonjezeredwa pagulu la mndandandawo zimakhala patsogolo kuposa zomwe zimafalitsidwa. Za example,
{e1,{e2:{o1,,o3},e3}}:{o4,o5}
ikufanana ndi:
{e1:{o4,o5},{e2:{o1,o5,o3},e3:{o4,o5}}}
Onaninso momwe njira yophonyera ya o2 imaloleza njira ya o5 kuti ifalikire pamndandanda wazosankha za e2 element.
Nambala ndi tanthawuzo la mikangano ndi zosankha mu lamulo zimatengera lamulo linalake ndipo zimatanthauzidwa pofotokozera lamulo lililonse lolandira. Kuphatikiza apo, ngati kufotokozera kwalamulo kumatanthawuza zosankha zina, koma zina kapena zonse zaphonya m'mawu, zikhalidwe zosasinthika za zosankha zomwe zaphonya zimasinthidwa. Miyezo yosasinthika ya zosankha imatanthauzidwanso pofotokozera lamulo lililonse la wolandila.

GREIS

www.javad.com

RECEIVER INPUT LANGUAGE Language Syntax

Kuti mumve zambiri, pansipa pali tebulo lomwe lili ndi zilembo zonse zomwe zili ndi tanthauzo lapadera muchilankhulo cholowetsamo wolandila:

Gulu 2-1. Zinenero Zapadera za Chinenero Cholowetsa

Zilembo Decimal ASCII kodi

Tanthauzo

cholekanitsa mzere

;

chiyambi cha ndemanga chizindikiro cholekanitsa

124

ziganizo ndi ziganizo zolekanitsa kapena chizindikiritso cha mawu olekanitsa

{

123

}

125

checksum chizindikiro chiyambi cha mndandanda chizindikiro mapeto a mndandanda chandanda zinthu zolekanitsa options chizindikiro

”

mawu obwereza

kuthawa

GREIS

www.javad.com

RECEIVER INPUT LANGUAGE Commands
2.3 Malamulo
Mu gawo ili tikufotokoza malamulo onse ofotokozedwa mu GREIS. Mafotokozedwe a syntax ndi semantics a lamulo lililonse amatsagana ndi kufotokozera examples. Kuti mufotokoze mwatsatanetsatane zinthu zomwe zimagwiritsidwa ntchito ngati mfundo mu examples, onani Mutu 4 patsamba 181.

GREIS

www.javad.com

2.3.1 seti

RECEIVER INPUT LANGUAGE Malamulo akhazikitsidwa

Dzina
khazikitsa mtengo wa chinthu.
Ndemanga
Mtundu: set, chinthu, mtengo Zosankha: palibe
Zokangana
tsutsani chizindikiritso cha chinthu chomwe mukufuna. Ngati chinthu sichiyamba ndi "/", ndiye kuti "/ par/" chimayambira chimayikidwa patsogolo pa chinthucho musanapereke lamulo.
perekani mtengo woperekedwa ku chinthu chomwe mukufuna. Kuchuluka kwa zikhalidwe zololedwa komanso semantics ya ntchitoyo zimadalira mtundu wa chinthucho ndipo zafotokozedwa pambuyo pake m'bukuli pa chinthu chilichonse chothandizidwa.
Zosankha
Palibe.
Kufotokozera
Lamuloli limapereka mtengo kwa chinthucho. Palibe yankho lomwe limapangidwa pokhapokha ngati pali cholakwika kapena yankho likakamizidwa ndi chozindikiritsa mawu.
Examples
Example: Khazikitsani kuchuluka kwa baud ya serial port C mpaka 115200.
set,/par/dev/ser/c/rate,115200 set,dev/ser/c/rate,115200
Example: Khazikitsani kuchuluka kwa serial port A mpaka 9600 ndikukakamiza kuyankha:
%% set,dev/ser/a/rate,9600 RE002%%

GREIS

www.javad.com

2.3.2 kusindikiza

RECEIVER INPUT LANGUAGE Malamulo sindikizani

Dzina
sindikiza mtengo wa chinthu.

Ndemanga
Mtundu: sindikizani, Zosankha zachinthu: {names}

Zokangana
tsutsani chizindikiritso cha chinthu cha chinthu kuti chitulutsidwe. Ngati chinthu sichiyamba ndi "/", ndiye kuti "/ par/" chimayambira chimayikidwa patsogolo pa chinthucho musanapereke lamulo.

Zosankha

Gulu 2-2. kusindikiza zosankha mwachidule

Mtundu wa Dzina

Makhalidwe

mayina boolean pa, off

Zosasintha
kuzimitsa

mayina ngati achotsedwa, amangotulutsa zinthu zokha. Mukayatsa, tulutsani mayina azinthu kuwonjezera pa makonda amtundu wa NAME=VALUE.
Kufotokozera
Lamuloli limasindikiza mtengo wa chinthucho, ndikuyika patsogolo mtengowo ndi dzina la chinthucho. Yankho limapangidwa nthawi zonse, ndipo mauthenga oposa [RE] amatha kupangidwa potsatira lamulo limodzi losindikiza.
Mtengo wa chinthu chamtundu wa mndandanda umasindikizidwa ngati mndandanda wazinthu zamtundu uliwonse pamndandanda. Izi zimagwiritsidwa ntchito mobwerezabwereza mpaka zinthu zamasamba zifikiridwa, kotero kusindikiza chinthu chamtundu wa nonleaf kumatulutsa bwino mtengo waung'ono kuyambira pa chinthu chotchulidwa. Pankhani yosindikiza mindandanda, mauthenga angapo a [RE] atha kupangidwa. Komabe, kugawanika kwa zotulutsa kumatha kuchitika pokhapokha zilembo zolekanitsa mndandanda.

GREIS

www.javad.com

RECEIVER INPUT LANGUAGE Malamulo sindikizani
Examples
Example: Sindikizani nthawi yamakono ya gridi yanthawi yolandila mkati. Iliyonse mwa:
sindikiza,/par/raw/curmsint RE004 100 sindikiza,yaiwisi/curmsint RE004 100
Example: Sindikizani nthawi yamakono ya gridi yanthawi yolandila mkati pamodzi ndi dzina lachinthu. Iliyonse mwa:
sindikiza,/par/raw/curmsint:pa RE015/par/raw/curmsint=100 kusindikiza,yaiwisi/curmsint:pa RE015/par/raw/curmsint=100
Example: Zambiri za mtundu wolandila:
sindikizani,rcv/ver RE028{“2.5 Sep,13,2006 p2″,0,71,MGGDT_5,none, RE00D {none,none}}
Example: Sindikizani zambiri zamtundu wolandila pamodzi ndi mayina ofananira:
sindikizani,rcv/ver:pa RE043/par/rcv/ver={main=”2.5 Sep,13,2006 p2”,boot=0,hw=71,board=MGGDT_5, RE00C modem=palibe,RE017 pow={fw =palibe,hw=palibe}}
Example: Sindikizani mauthenga onse omwe aperekedwa kuti atulutsidwe ku doko la B pamodzi ndi magawo awo okonzekera:
sindikiza,out/dev/ser/b:on RE02D/par/out/dev/ser/b={jps/RT={1.00,0.00,0,0×0}, RE01A jps/SI={1.00,0.00,0,0, 0×01}, RE1.00,0.00,0,0A jps/rc={0×01}, RE1.00,0.00,0,0A jps/ET={0×01}, RE10.00,5.00,0,0D nmea/GGA={0×XNUMX}}

GREIS

www.javad.com

2.3.3 mndandanda

RECEIVER INPUT LANGUAGE Mndandanda wamalamulo

Dzina
tchulani zomwe zili mu chinthu.
Ndemanga
Format: list[,object] Zosankha: palibe
Zokangana
tsutsani chizindikiritso cha chinthu cha chinthu kuti chitulutsidwe. Ngati chinthu sichinasinthidwe, / log imaganiziridwa. Ngati chinthu sichiyamba ndi "/", ndiye kuti "/ log/" chimaliziro chimayikidwa patsogolo pa chinthucho chisanapereke lamulo.
Zosankha
Palibe.
Kufotokozera
Lamuloli limatulutsa mayina a membala aliyense wa chinthucho. Yankho limapangidwa nthawi zonse, ndipo mauthenga opitilira [RE] amatha kupangidwa potsatira lamulo limodzi la mndandanda. Ngati chinthu chomwe chafotokozedwa si cha mndandanda wamtundu, uthenga wopanda kanthu [RE] umapangidwa. Ngati chinthu chomwe chatchulidwacho ndi mndandanda, mndandanda wa mayina a chinthu chilichonse pamndandanda umasindikizidwa. Izi zimagwiritsidwa ntchito mobwerezabwereza mpaka zinthu zamasamba zifikiridwe, kotero kulembera chinthu chopanda masamba kumatulutsa bwino mtengo waung'ono kuyambira pa chinthu chomwe chatchulidwa. Pankhani yosindikiza mindandanda, mauthenga angapo a [RE] atha kupangidwa. Komabe, kugawanika kwa zotulutsa kumatha kuchitika pokhapokha zilembo zolekanitsa mndandanda.
Examples
Example: Yankho lopanda kanthu pamindandanda yazinthu zomwe sizili pamndandanda:
list,/par/rcv/ver/main RE000
Example: Yankho lolakwika pakulemba mndandanda wazinthu zomwe palibe:
mndandanda,/palibe_palibe ER018{2,,gawo loyamba lolakwika}

GREIS

www.javad.com

RECEIVER INPUT LANGUAGE Mndandanda wamalamulo
Example: Pezani mndandanda wa zolemba zomwe zilipo kale-files. Kaya
list,/log list
adzatulutsa zomwezo, mwachitsanzo:
RE013{log1127a,log1127b}
Example: Lembani mauthenga onse a GREIS omwe amathandizidwa ndi wolandira:
list,/msg/jps RE03D{JP,MF,PM,EV,XA,XB,ZA,ZB,YA,YB,RT,RD,ST,LT,BP,TO,DO,OO,UO,GT, RE040 NT,GO,NO,TT,PT,SI,NN,EL,AZ,SS,FC,RC,rc,PC,pc,CP,cp,DC,CC,cc,EC, RE040 CE,TC,R1,P1,1R,1P,r1,p1,1r,1p,D1,C1,c1,E1,1E,F1,R2,P2,2R,2P,r2, RE040 p2,2r,2p,D2,C2,c2,E2,2E,F2,ID,PV,PO,PG,VE,VG,DP,SG,BI,SE,SM,PS, RE040 GE,NE,GA,NA,WE,WA,WO,GS,NS,rE,rM,rV,rT,TM,MP,TR,MS,DL,TX,SP,SV, RE031 RP,RK,BL,AP,AB,re,ha,GD,LD,RM,RS,IO,NP,LH,EE,ET}
Example: Lembani mauthenga onse muzosasintha za mauthenga:
list,/msg/def RE040{jps/JP,jps/MF,jps/PM,jps/EV,jps/XA,jps/XB,jps/RT,jps/RD,jps/SI, RE040 jps/NN,jps /EL,jps/FC,jps/RC,jps/DC,jps/EC,jps/TC,jps/CP,jps/1R, RE040 jps/1P,jps/2R,jps/2P,jps/E1,jps/D2,jps/E2,jps/SS,jps/SE,jps/PV, RE040 jps/ST,jps/DP,jps/TO,jps /DO,jps/UO,jps/IO,jps/GE,jps/NE,jps/GA, RE01D jps/NA,jps/WE,jps/WA,jps/WO}

GREIS

www.javad.com

GREIS

2.3.4 em & kunja

RECEIVER INPUT LANGUAGE Command em & out

Dzina
em, kunja yambitsani kutulutsa kwa mauthenga nthawi ndi nthawi.

Ndemanga
Mtundu: Mtundu: Zosankha:

em,[chandanda],mauthenga atuluka,[chandanda],mauthenga {nthawi, gawo, kuwerengera, mbendera}

Zokangana
kutsata mtsinje uliwonse wotulutsa kapena seti ya uthenga. Ngati palibe chandamale chomwe chafotokozedwa, terminal yapano, /cur/term, imaganiziridwa.
imatumiza mauthenga mndandanda (mwina wokhala ndi kapena popanda zingwe zozungulira) wa mayina a mauthenga ndi/kapena mayina oyika mauthenga kuti awonedwe. Ngati mayina ena otchulidwa sayamba ndi "/", ndiye kuti "/msg/" mawu oyambirira amalowetsedwa pamaso pa mayinawa asanapereke lamulo.

Zosankha

Gulu 2-3. em and out options mwachidule

Mtundu wa Dzina

Makhalidwe

Zosasintha

nthawi yoyandama [0…86400)

–

gawo loyandama [0…86400)

–

kuchuluka [-256…32767] 0 kwa em 1 kwa kunja

chiwerengero cha mbendera [0…0xFFFF] -

nthawi, gawo, kuwerengera, mbendera uthenga ndandanda magawo.
Kufotokozera
Malamulowa amathandizira kutulutsa kwanthawi ndi nthawi kwa mauthenga omwe atchulidwa mu chandamale, kukakamiza magawo omwe akukonzekera kuti akhale omwe atchulidwa ndi zosankha. Palibe yankho lomwe limapangidwa pokhapokha ngati pali cholakwika, kapena kuyankha kukakamizidwa ndi chozindikiritsa mawu.
Malamulo a em ndi out ndi ofanana kupatula mtengo wosasinthika wa njira yowerengera wayikidwa ku 0 kwa em, ndi 1 kwa kunja. The out command ndi njira yosavuta yofunsira

www.javad.com

RECEIVER INPUT LANGUAGE Command em & out

Zindikirani:

kutulutsa kamodzi kwa mauthenga. Tingolankhula za em mukufotokozeraku ngakhale zonse zikugwiranso ntchito kunja.
Mafotokozedwe ali pansipa akuyembekeza kuti owerenga akudziwa bwino zomwe zili mu gawo la "Periodic Output" patsamba 22.
Pamitsinje iliyonse yotulutsa, pali mndandanda wofananira wa mauthenga1,2 omwe amathandizidwa pakali pano kuti atulutsidwe kumtsinje womwe waperekedwa. Pamene uthenga woperekedwa ngati mtsutso kwa em command suli pamndandanda wotuluka, lamulo la em limawonjezera uthenga womwe watchulidwa kumapeto kwa mndandanda. Pamene uthenga woperekedwa kwa em command uli kale pamndandanda wotuluka, lamulo la em limangosintha magawo a dongosolo la uthengawu ndipo silisintha malo a uthenga mkati mwa mndandanda.
Monga lamulo la em likuphatikiza mauthenga omwe atchulidwa pamndandanda wotuluka, nthawi zambiri ndibwino kugwiritsa ntchito dm command kuchotsa mndandanda wazomwe zaperekedwa musanapereke malamulo.
Lamulo la em limapangitsa kuti mauthenga atchule uthenga umodzi panthawi, kuchokera kumanzere kupita kumanja, komanso kuchokera ku uthenga woyamba wa uthenga womwe wakhazikitsidwa mpaka uthenga womaliza. Ikakumana ndi dzina lomwe siligwirizana ndi uthenga uliwonse wolandila kapena uthenga womwe wakhazikitsidwa, imakumbukira kuti panali zolakwika pakuphedwa, koma siyisiya kukonza mndandanda wa mauthengawo. Mwanjira iyi mauthenga onse ochokera pamndandanda wa mauthenga omwe atha kuyatsidwa adzayatsidwa, ndipo cholakwika chimodzi chokha chidzafotokozedwa pamene uthenga umodzi kapena zingapo zomwe zatchulidwa sizingayatsidwe.
Pamene em command ikupanga uthenga womwe uli pafupi, mauthenga omaliza okonzekera magawo omwe ali pamndandanda wotsatira wa mauthenga amawerengedwa poganizira magwero angapo a chidziwitso chokhudza magawo a ndondomeko, makamaka:
1. Makhalidwe ofotokozedwa momveka bwino muzosankha za lamulo la em.
2. Miyezo yosasinthika ya zosankha za em command.
3. Kukonzekera magawo otchulidwa pa uthenga womwe waperekedwa monga gawo la uthenga wogwirizana. Izi zimaganiziridwa pokhapokha pothandizira uthenga pofotokoza tsatanetsatane wa uthenga, osati uthenga umodzi.
4. Zosintha zaposachedwa za uthengawo pamndandanda wofananira (ngati zilipo).
5. Zosintha zadongosolo zomwe zafotokozeredwa za uthenga womwe wapatsidwa monga gawo la gulu la mauthenga.
Magwero omwe ali pamwambawa amalembedwa mu dongosolo la kutsogola kwawo, woyamba kukhala wotsogola kwambiri, ndipo amagwiritsidwa ntchito payekhapayekha pazigawo zinayi zokonzera. Chifukwa chake, ziwerengero zochokera ku (1) zimaposa (2), mtengo wotsatira

GREIS

1. Pa mtsinje NAME, mndandanda wa zotuluka zofananira umatchedwa /par/out/NAME 2. Firmware yomwe ilipo pano ili ndi malire osamveka a kuchuluka kwa mauthenga omwe ali pamndandanda wotulutsidwa kukhala 49.

www.javad.com

RECEIVER INPUT LANGUAGE Command em & out

ichotsa mtengo kuchokera ku (3), ndi zina zotero. Komabe, ngati ma bits ena a F_FIX_PERIOD, F_FIX_PHASE, F_FIX_COUNT, kapena F_FIX_FLAGS ayikidwa mugawo la mbendera za kochokera kwina, minda yofananira ya gwero lotsatira sizidzachotsedwa.

Examples

Example: Yambitsani kutulutsa kamodzi kwa uthenga wa NMEA GGA ku terminal yomwe ilipo:

em,,nmea/GGA:{,,1}

Zofanana ndi zomwe zili pamwambapa, koma kugwiritsa ntchito m'malo mwa em:

kunja,,nmea/GGA
Example: Yambitsani kutulutsa kwa seti yosasinthika ya mauthenga ku log-file A pogwiritsa ntchito zotuluka zokhazikika. Iliyonse mwa:

ExampLe:

em,/cur/file/a,/msg/def em,/cur/file/a, def
Yambitsani kutulutsa kwa seti yokhazikika ya mauthenga ku log-file A masekondi 10 aliwonse Pazigawo zina zotuluka, zikhalidwe zawo zosasinthika zidzagwiritsidwa ntchito:

em,/cur/file/a, def:10
Example: Yambitsani kutulutsa kwa seti yosasinthika ya mauthenga ku terminal yomwe ilipo pogwiritsa ntchito magawo osasinthika. Iliyonse mwa:

ExampLe:

em,/cur/term,/msg/def em,,/msg/def em,,def
Yambitsani kutulutsa kwa mauthenga a GREIS [~~](RT) ndi [RD] ku terminal yapano. Iliyonse mwa:

ExampLe:

em,,/msg/jps/RT,/msg/jps/RD em,,jps/{RT,RD}
Yambitsani kutuluka kwa mauthenga a NMEA GGA ndi ZDA ku terminal yomwe ilipo masekondi 20 aliwonse:

ExampLe:

em,,nmea/{GGA,ZDA}:20
Yambitsani kutulutsa kwa mauthenga [SI], [EL] ndi [AZ] ku doko la siriyo A. Khazikitsani zochunira za [SI] kuti nthawi pakati pa mauthenga awiri otsatira [SI] ikhale yofanana ndi masekondi 10, ngati agwirizana, ndi Sekondi imodzi mwanjira ina; kutulutsa mauthenga makumi asanu okha [SI] oyambirira. Kuphatikiza apo, wolandila, ikani nthawi yotulutsa kukhala masekondi a 1 kwa [EL] ndi [AZ] mauthenga:

em,/dev/ser/a,jps/{SI:{1,10,50,0×2},EL,AZ}:2

GREIS

www.javad.com

RECEIVER INPUT LANGUAGE Command em & out
Example: Yambitsani kutulutsa kwa RTCM 2.x mitundu ya mauthenga 1 ndi 31 ku doko la B yokhala ndi nthawi yotulutsa masekondi 3, ndi mitundu ya mauthenga a RTCM 2.x 18, 19, 3, 22 kupita kudoko C yokhala ndi nthawi yotulutsa sekondi imodzi yamitundu 1 ndi 18; ndi masekondi 19 a mitundu 10 ndi 3:
em,/dev/ser/b,rtcm/{1,31}:3; em,/dev/ser/c,rtcm/{18:1,19:1,22,3}:10
Example: Sinthani makonda amtundu wa mauthenga kuti akhale ndi NMEA ZDA ndi GGA okha:
dm,/msg/def em,/msg/def,/msg/nmea/{ZDA,GGA}

GREIS

www.javad.com

2.3.5dm pa

RECEIVER INPUT LANGUAGE Malamulo dm

Dzina
dm zimitsani kutulutsa kwanthawi kwa mauthenga.
Ndemanga
Format: dm[,[target][,messages]] Zosankha: palibe
Zokangana
kutsata mtsinje uliwonse wotulutsa kapena seti ya uthenga. Ngati palibe chandamale chomwe chafotokozedwa, terminal yapano, /cur/term, imaganiziridwa. Ngati mayina ena otchulidwa sayamba ndi "/", ndiye kuti "/msg/" mawu oyambirira amalowetsedwa pamaso pa mayinawa asanapereke lamulo.
imatumiza mauthenga mndandanda wa mauthenga oletsedwa, kaya ndi kapena opanda zingwe zozungulira, kapena gulu lililonse la mauthenga kapena seti ya uthenga. Ngati palibe mauthenga omwe atchulidwa, zotulutsa zonse zapanthawi ndi nthawi zimayimitsidwa.
Zosankha
Palibe.
Kufotokozera
Lamuloli limalepheretsa kutulutsa kwanthawi ndi nthawi kwa mauthenga omwe atchulidwa mu chandamale cha chinthu. Palibe yankho lomwe limapangidwa pokhapokha ngati pali cholakwika, kapena kuyankha kukakamizidwa ndi chozindikiritsa mawu.
Ngati palibe mauthenga omwe atchulidwa, zotulutsa zonse za periodic ku chandamale zimazimitsidwa. Ngati chandamale ndi chipika chaposachedwa-file ndipo palibe mauthenga omwe atchulidwa, zotuluka zonse ku file ndi olumala, a file yatsekedwa, ndi zolemba zofananira zapano-file idakhazikitsidwa palibe.
Ngati uthenga watchulidwa pamndandanda wauthenga womwe sunatheke kuti utulutsidwe ku chandamale chomwe chaperekedwa, palibe cholakwika chofanana chomwe chimapangidwa ndi dm command. Ngakhale izi siziletsa zolakwika zina kuti zifotokozedwe.
Examples
Example: Letsani mauthenga onse omwe akutuluka mu log-file A ndi kutseka file:
dm,/cur/file/a

GREIS

www.javad.com

RECEIVER INPUT LANGUAGE Malamulo dm
Example: Letsani zotulutsa zonse zomwe zili mu terminal yapano. Iliyonse mwa:
dm,/cur/term dm
Example: Letsani kutulutsa kwa uthenga wa GREIS [~~](RT) mu doko la B:
dm,/dev/ser/b,/msg/jps/RT
Example: Letsani kutulutsa kwa uthenga wa GREIS [DO] muzolemba zapano-file B:
dm,/cur/file/b,/msg/jps/DO
Example: Chotsani uthenga wa GREIS [PM] kuchokera pagulu la mauthenga:
dm,/msg/def,/msg/jps/PM
Example: Letsani kutulutsa kwa mauthenga onse a NMEA ku terminal yomwe ilipo:
dm,/cur/term,/msg/nmea
Example: Letsani kutulutsa kwa mauthenga a NMEA GGA ndi ZDA mu terminal yapano. Iliyonse mwa:
dm,/cur/term,/msg/nmea/GGA,/msg/nmea/ZDA dm,,/msg/nmea/GGA,/msg/nmea/ZDA dm,,nmea/GGA,nmea/ZDA dm,,nmea /{GGA,ZDA}

GREIS

www.javad.com

2.3.6 gawo

RECEIVER INPUT LANGUAGE Command init

Dzina
yambitsani zinthu.

Ndemanga
Mtundu: init,object[/] Zosankha: palibe

Zokangana
tsutsani chinthu chomwe chiyenera kuyambitsidwa. / ngati ilipo ndipo chinthucho ndi cha mndandanda wamtundu, yambitsani zinthu zonse zomwe zili m'malo mwake
cha chinthucho chokha.

Zosankha
Palibe.

Zindikirani:

Kufotokozera
Lamulo ili limayambitsa zinthu zotchulidwa. Palibe yankho lomwe limapangidwa pokhapokha ngati pali cholakwika, kapena kuyankha kukakamizidwa ndi chozindikiritsa mawu.
Semantics yeniyeni yoyambira imatengera chinthu chomwe chikuyambitsidwa, koma nthawi zambiri chimatha kuwonedwa ngati kutembenuza chinthu kukhala "chosasinthika" kapena "choyera". Za example, pazigawo zimatanthawuza kuyika zikhalidwe zawo kuti zikhale zosagwirizana, za filechipangizo chosungira chimatanthawuza kupanganso kusintha kwapakati, ndi zina zotero.
Kuyambitsa zina mwazinthu kumapangitsa kuti wolandila ayambitsenso. Izi ndizomwe zimachitika pakuyambitsa kukumbukira kosasinthika (/dev/nvm/a).
Ngakhale zingasinthe m'tsogolomu, kukhazikitsidwa kwatsopano kwa lamulo la generic kwa olandila kumakhala kochepa. Ndipotu kokha initialization wa zinthu zomwe zimapezeka kaleampzomwe zili pansipa zimathandizidwa.

Examples
Example: Chotsani NVRAM ndikuyambiranso wolandila. Deta yonse yosungidwa mu NVRAM (almanacs, ephemeris, etc.) idzatayika, magawo onse adzakhazikitsidwa kuzinthu zawo zokhazikika pambuyo poyambiranso:
init,/dev/nvm/a
Example: Chotsani ephemeris:
izi,/eph/

GREIS

www.javad.com

RECEIVER INPUT LANGUAGE Command init
Example: Khazikitsani magawo onse olandila kuti akhale okhazikika:
izi,/par/
Example: Khazikitsani magawo onse a WLAN kumayendedwe awo osakhazikika. Kuyambitsanso unit ndikofunikira kuti zosintha zichitike:
init,/par/net/wlan/
Example: yambitsani file dongosolo (ie, kukonzanso sing'anga yoyambira). Zonse filezosungidwa mu wolandila zidzatayika:
init,/dev/blk/a
Example: Yambitsani mauthenga onse kuzinthu zawo zosasintha:
ine,/msg/

GREIS

www.javad.com

2.3.7 kupanga

RECEIVER INPUT LANGUAGE Malamulo amalenga

Dzina
pangani pangani chinthu chatsopano.

Ndemanga
Mtundu: pangani[,object] Zosankha: {log}

Zokangana
chizindikiritso cha chinthu cha chinthu choyenera kupangidwa. Ngati chinthu sichiyamba ndi "/", ndiye kuti "/ log/" chimaliziro chimayikidwa patsogolo pa chinthucho chisanapereke lamulo. Ngati sichinasinthidwe, ndiye kuti kulengedwa kwa a file amaganiziridwa ndi wapadera file dzina amapangidwa basi.

Zosankha

Gulu 2-4. pangani chidule cha zosankha

Makhalidwe a Mtundu wa Dzina
chipika a,b,...

Zosasintha
a

log log-file zolengedwa file ikuyenera kuperekedwa. Logi -file osankhidwa ndi /cur/log/X, pomwe X ndi mtengo wa option1.
Kufotokozera
Lamuloli limapanga chinthu chatsopano. Palibe yankho lomwe limapangidwa pokhapokha ngati pali cholakwika, kapena kuyankha kukakamizidwa ndi chozindikiritsa mawu.
Zonse zomwe zili mumtengo ndi mtundu wa chinthu cholengedwa zimatanthauzidwa ndi mkangano wa chinthu.
Mitundu iwiri ya zinthu ikhoza kupangidwa:
1. Files. Chatsopano file amapangidwa nthawi iliyonse pamene chizindikiritso cha chinthu chikutchula chinthu mu / log sub-tree, kapena pamene mkangano wa chinthu wasiyidwa.
2. Zofotokozera za uthenga. Chidziwitso chatsopano cha uthenga chimapangidwa nthawi zonse pamene chozindikiritsa chinthu chitchula chinthu mu uthenga (mwachitsanzo, /msg/def).

GREIS

1. Firmware yamakono imathandizira imodzi kapena ziwiri nthawi imodzi-filekutengera wolandila.

www.javad.com

RECEIVER INPUT LANGUAGE Malamulo amalenga
Kupanga Files
Polenga files, mkangano wa chinthu mwina wasiyidwa kapena uli ndi /log/NAME, pomwe NAME ndi dzina la file kuti ipangidwe, ndipo /log/ ndiyosankha. M'mbuyomu wolandila adzasankha dzina lapadera la file. Pomaliza, dzina la NAME lotchulidwa liyenera kukhala mzere wofikira zilembo 31 ndipo lisakhale ndi mipata kapena zilembo zotsatirazi: ",{}()@&"/".
Ngati ndi file /log/NAME ilipo kale, lamulo lopanga lidzalephera ndikutulutsa uthenga wolakwika. Chifukwa chake, palibe njira yothetsera zina zomwe zilipo files ndi kupanga lamulo.
Pambuyo latsopano file idapangidwa bwino, imaperekedwa ku imodzi mwazolemba zamakono-filekutengera mtengo wa log_file mwina. Ngati cholembera chogwirizana-file kale kuloza kwa wina file pamene kupanga kuchitidwa, zolemba zakale-file idzatsekedwa ndipo zotulutsa zidzapitirira mpaka zatsopano file popanda kusokoneza.
Kupanga Zofotokozera Mauthenga
Powonjezera mauthenga ku uthenga wokhazikitsidwa, mkangano wa chinthu uli ndi mtundu /msg/SET/GROUP/MSG, pomwe SET ndi dzina la uthenga womwe uyenera kukhazikitsidwa, GROUP ndi dzina la gulu lomwe uthengawo uyenera kukhala. , ndipo MSG ndi dzina la uthengawo (mwachitsanzo, /msg/def/nmea/GGA, kapena /msg/jps/rtk/min/jps/ET).
Magawo okonzekera uthenga adzakopera kuchokera kwa omwe akufotokozedwa kuti apereke uthenga mu gulu la mauthenga. Gwiritsani ntchito set command kuti musinthe ma parameters ngati pakufunika.
Examples
Kupanga Files
Example: Pangani chatsopano file ndi dzina lopangidwa zokha ndikulipereka ku chipika chomwe chilipofile A (/kut/file/a). Iliyonse mwa:
pangani pangani,:a
Example: Pangani chipika chatsopano-file ndi dzina "my_file”. Iliyonse mwa:
pangani,/log/my_file:kulenga,nga_file
Example: Pangani files "file1 ndi "file2”, ndikuwapatsa /cur/file/a ndi/cur/file/b:
pangani,file1:a; pangani,file2:b

GREIS

www.javad.com

RECEIVER INPUT LANGUAGE Malamulo amalenga
Kupanga Zofotokozera Mauthenga
Example: Onjezani /msg/jps/ET mauthenga pagulu lokhazikika la mauthenga:
pangani,/msg/def/jps/ET
Example: Onjezani uthenga wa NMEA GGA ku mauthenga osasinthika ndikukakamiza nthawi ndi gawo kukhala nthawi zonse 10 ndi 5, motsatana, ziribe kanthu zomwe zingatchulidwe mu lamulo la em kapena kunja:
pangani,/msg/def/nmea/GGA set,/msg/def/nmea/GGA,{10,5,,0×30}

GREIS

www.javad.com

2.3.8 chotsani

RECEIVER INPUT LANGUAGE Malamulo amachotsa

Dzina
chotsani chotsani chinthu.
Ndemanga
Mtundu: chotsani, chinthu[/] Zosankha: palibe
Zokangana
chizindikiritso cha chinthu cha chinthu choyenera kuchotsedwa. Ngati chinthu sichiyamba ndi "/", ndiye kuti "/ log/" chimaliziro chimayikidwa patsogolo pa chinthucho chisanapereke lamulo.
/ ngati ilipo ndipo chinthucho ndi cha mndandanda wamtundu, chotsani zonse zomwe zili m'malo mwa chinthucho.
Zosankha
Palibe.
Kufotokozera
Lamuloli limachotsa (kuchotsa) chinthu chomwe chilipo kale. Palibe yankho lomwe limapangidwa pokhapokha ngati pali cholakwika, kapena kuyankha kukakamizidwa ndi chozindikiritsa mawu. Ngati palibe chinthu chotchulidwa ndi chinthu, kapena ngati chinthucho sichikhoza kuchotsedwa, cholakwika chimapangidwa. Mitundu iwiri ya zinthu ikhoza kuchotsedwa:
1. Files. Ngati ndi file ndi imodzi mwa zolemba zakalefiles, lamulo lidzalephera ndipo uthenga wolakwika udzapangidwa.
2. Zofotokozera za mauthenga kuchokera kumagulu a mauthenga.
Examples
Example: Chotsani chipika-file ndi dzina "NAME". Iliyonse mwa:
chotsani,/log/NAME chotsani,NAME
Example: Chotsani chipika chonse-files:
chotsani,/logi/

GREIS

www.javad.com

RECEIVER INPUT LANGUAGE Malamulo amachotsa
Example: Chotsani uthenga wa GREIS [GA] kuchokera pagulu la mauthenga:
chotsani,/msg/def/jps/GA
Example: Chotsani mauthenga onse pagulu losakhazikika la mauthenga:
chotsani,/msg/def/
Example: Chotsani mauthenga onse pamagulu ochepa a mauthenga a GREIS oyenera RTK:
chotsani,/msg/rtk/jps/min/

GREIS

www.javad.com

2.3.9 chochitika

RECEIVER INPUT LANGUAGE Alamula chochitika

Dzina
chochitika kupanga chochitika chaulere.

Ndemanga
Mtundu: chochitika, chingwe Zosankha: palibe

Zokangana
sungani chingwe chokhazikika1 chokhala ndi zilembo 63.

Zosankha
Palibe.

Chidziwitso: EksampLe:

Kufotokozera
Lamuloli limapanga chochitika chaulere. Palibe yankho lomwe limapangidwa pokhapokha ngati pali cholakwika, kapena kuyankha kukakamizidwa ndi chozindikiritsa mawu.
Chingwe chopatsidwa pamodzi ndi nthawi yolandira lamulo lachidziwitso chimasungidwa mu wolandila mu buffer2 yapadera. Zomwe zili mu buffer iyi zimatuluka ku mitsinje yonse yomwe uthenga wa GREIS wamba [==](EV) (wofotokozedwa patsamba 131) ndiwoyatsa.
Makina opangira mawonekedwe aulere amapangidwira kuti mapulogalamu owongolera atumize zambiri zamawu osasinthika ku mapulogalamu omwe asinthidwa popanda kutanthauzira izi mwa wolandila. Choyambira cha firmware yolandila sichimapanga zochitika zaulere pachokha, komanso sichimasulira mwanjira ina zomwe zimatumizidwa kudzera pamalamulo a chochitikacho.
Zingwe zonse zoyambira ndi zilembo za underscore (ASCII 0x5F) zimasungidwa ku mapulogalamu a JAVAD GNSS. Muyenera kusamala kuti zingwe zotere sizikugwiritsidwa ntchito ndi malamulo a zochitika pokhapokha ngati simungathe kukwaniritsa ntchito yanu mwanjira ina kapena mukufuna kugwirizana ndi pulogalamu ya JAVAD GNSS. M'nkhani yomalizayi, chonde onani tsatanetsatane wa zochitika zaulere zomwe zasungidwa ku mapulogalamu a JAVAD GNSS mu bukhu la "Frame Format for Free-Form Events", lomwe likupezeka pa http://www.javad.com.
Pangani chochitika chaulere chokhala ndi chingwe "Info1":
chochitika, Info1

GREIS

1. Kumbukirani kuti ngati chingwe chili ndi zilembo zomwe zasungidwa m'chinenero cha olandila, muyenera kuyika chingwechi m'mawu awiri.
2. Firmware yamakono imapereka buffer yayikulu yokwanira kusunga mpaka khumi ndi zisanu ndi chimodzi 64 byte zochitika zaulere.

www.javad.com

RECEIVER INPUT LANGUAGE Alamula chochitika
Example: Pangani chochitika chaulere chokhala ndi zilembo zosungidwa:
chochitika,”CHOCHITIKA{DATA,KUTUMWA}”
Example: Pangani chochitika chaulere chosungidwira pulogalamu ya JAVAD GNSS (chochitikachi chimadziwitsa zakusintha kwamphamvu):
chochitika,”_DYN=STATIC”
Example: Pangani fomu yaulere ndi chingwe chopanda kanthu:
chochitika,"
Example: Pangani zochitika zingapo zaulere ndikubwezerani [==](EV) mauthenga (m'kati mwa [==] mauthenga ma byte osasindikiza asinthidwa ndi madontho mu wakaleample):
em,,jps/EV %accepted% chochitika,"chingwe china"RE00A%accepted% ==011…..some_string. %1% chochitika,1; %2% chochitika,2 RE003%1% RE003%2% ==007…..1. ==007…..2. dm,,jps/EV

GREIS

www.javad.com

2.3.10 kupeza

RECEIVER INPUT LANGUAGE Malamulo get

Dzina
yambani kubweza file Zomwe zili mu DTP1.

Ndemanga
Mtundu: pezani, chinthu[,offset] Zosankha: {timeout,block_size,nthawi,gawo,kuyesera}

Zokangana
chinthu chozindikiritsa cha file kuti atengedwe. Ngati chinthu sichiyamba ndi "/", ndiye kuti "/ log/" chimaliziro chimayikidwa patsogolo pa chinthucho chisanapereke lamulo. Ngati chinthucho palibe kapena sichingatengedwe, uthenga wolakwika umapangidwa.
offset offset mu byte kuyambira pachiyambi cha file poyambira kubweza. Ngati yasiyidwa, 0 imaganiziridwa.

Zosankha

Gulu 2-5. pezani chidule cha zosankha

Dzina

Mtundu

Makhalidwe

lekeza panjira

chiwerengero [0…86400], masekondi

block_size integer [1…163841]

nthawi

zoyandama [0…86400), masekondi

gawo

zoyandama [0…86400), masekondi

kuyesa kuchuluka [-257…100] 1. 2048 kwa olandila omwe samathandizira TCP kapena USB.

Zosasintha
10 512 0 0 10

kutha kwa nthawi ya DTP. block_size kukula kwa chipika cha data cha DTP. nthawi yotulutsa kuti musefe (onani pansipa). gawo gawo lotulutsa kuti musefe (onani pansipa). amayesa matanthauzo osiyanasiyana kutengera mtundu, motere:

1. Onani "Data Transfer Protocol" patsamba 580.

GREIS

www.javad.com

RECEIVER INPUT LANGUAGE Malamulo get
[1…100] kuchuluka kwa kuyesa kwa DTP transmitter kudzatenga kutumiza chipika chimodzi. Ikakhazikitsidwa ku 1, njira yapadera yotsatsira imatsegulidwa (onani pansipa).
0 m'malo moyambitsa DTP, tulutsani zomwe zili mu chinthucho. [-256…-1] m'malo moyambitsa DTP, tulutsani zomwe zili mu chinthucho
[>>] mauthenga.
-257 m'malo moyambitsa DTP, tulutsani zomwe zili muzinthu zomwe zidakulungidwa mu [RE] mauthenga.
Kufotokozera
Lamuloli likuyamba kubweza a file lowetsani kompyuta yanu pogwiritsa ntchito Data Transfer Protocol (DTP) kapena mtundu wotulutsa. Palibe yankho lomwe limapangidwa pokhapokha ngati pali cholakwika, kapena kuyankha kukakamizidwa ndi chozindikiritsa mawu.
Mukakhala mu DTP mode, lamulo lopeza litapambana, cholumikizira cha DTP chimayambika pa wolandila ndikudikirira kuti wolandila wa DTP ayendetsedwe pa wolandila. Chifukwa chake, kuti mutengenso deta iliyonse, munthu amafunikira kukhazikitsidwa kwa DTP pa wolandila.
Mtsutso wosankha wosankha umalola wolandirayo kugwiritsa ntchito thandizo kuti ayambitsenso kusamutsa deta kwasokonekera. Dziwani kuti kufunafuna kuchotsera kwakukulu kungatenge nthawi yayitali kuti mugwire ntchito yolandila. Kuti mugwiritsenso ntchito kuyambiranso bwino mu pulogalamu yapagulu, kakamizani wolandila kuti ayankhe kuti alandire lamulo pogwiritsa ntchito chizindikiritso cha mawu ndikudikirira yankho kuchokera kwa wolandila musanagwiritse ntchito DTP pa wolandila. Njira iyi imatengera advantage zakuti wolandila amayankha kulamula pambuyo poti kusaka kuchitidwa.
Njira yoyesera ikakhazikitsidwa ku 1, cholumikizira cha DTP chidzayikidwa muzomwe zimatchedwa kusonkhana. Munjira iyi, atalandira NACK yoyamba kuchokera kwa wolandila DTP, chotumizira DTP chidzasuntha midadada popanda kudikirira ma ACK kuchokera kwa wolandila wa DTP, ndipo wotumizirayo adzachotsa nthawi yomweyo kusamutsa kwa data ngati NACK italandiridwa. Njirayi imalola kusamutsa deta mwachangu pamalumikizidwe odalirika okhala ndi ma latency apamwamba (monga TCP) kapena kusinthana kolowera kwambiri (monga USB). Kukhazikitsidwa moyenera kulandira gawo la protocol sikufuna chisamaliro chapadera kuti chithandizire njirayi.
Pamene nthawi njira si-ziro wapadera zosefera mode ndi adamulowetsa. Za example, imalola kutsitsa deta ya 1Hz kuchokera ku a file zomwe zidalembedwa pogwiritsa ntchito kusintha kwa 10Hz. Makamaka, wolandirayo amatumiza zidziwitso zokha za nthawi yomwe wolandila nthawi modulo tsiku lina (Tr) amakwaniritsa equation iyi:
Tr {mod period} = gawo
Kuti akwaniritse izi, wolandila amagawa zomwe zili mu fayilo file ndi zosefera ena mwa mauthenga. Zindikirani kuti kukhazikitsanso kuyambiranso kotsitsa kosokoneza kumakhala kovuta kwambiri ngati

GREIS

www.javad.com

RECEIVER INPUT LANGUAGE Malamulo get

osati zosatheka pankhaniyi chifukwa chakuti wolandirayo alibe chidziwitso pa zomwe wolandila amakumana nazo file kutsitsa kwasokonezedwa.
Mtundu uliwonse wa kusamutsa ukhoza kuthetsedwa ndi kulandirira kwa data potumiza chizindikiro cha zolakwika za DTP (mwachitsanzo, ASCII '#').
Mukasamutsa deta mu [RE] mauthenga, mtengo wa block_size udzatsimikizira kuchuluka kwa kuchuluka kwa data yomwe imalipidwa pa uthenga uliwonse wa [RE] (zochepanso ndi kukula kwa mkati mwa firmware buffer). Monga mwachizolowezi, uthenga uliwonse wa [RE] udzayambika ndi ID ya lamulo (ngati ilipo).
Mukasamutsa deta mu [>>] mauthenga, kufunikira kwa njira yoyesera kumatsimikizira gawo la id la [>>] mauthenga motere:
id = -1 - kuyesa
ndipo mtengo wa "block_size" uwonetsa kuchuluka kwa kuchuluka kwazomwe zimalipidwa pauthenga uliwonse [>>] (zochepanso ndi kukula kwa buffer yamkati ya firmware).
Baiti yotsatira pambuyo pa id (byte yoyamba ya gawo la data) mu [>>] uthenga udzakhala wotsatizana kuyambira ndi chizindikiro cha ASCII 0 ndi kuwonjezeredwa modulo 64 pa uthenga uliwonse, zomwe zimapangitsa kuti zizindikiro za ASCII zitsatidwe kuchokera ku 0 mpaka XNUMX. o, kuphatikiza:
seq = 0 lupu {seq_char = '0' + (seq++% 64)}
Mndandanda wa zilembo umalola kuti mapeto azitha kuzindikira kutayika kwa [>>] mauthenga motsatizana.
Ndiye katundu wa data wa chinthu mpaka block_size bytes adzatsatira, ndiyeno chekeni ndalama, molingana ndi mtundu wa [>>] uthenga.
Kutulutsa kopambana mumayendedwe okulungidwa kumamalizidwa nthawi zonse ndi [>>] uthenga wopanda malipiro a data, kulola kutha kwa kulandira kuti mudziwe bwino kutha kwa kusamutsa.

Examples

Example: Yambani kubwezeretsanso zomwe zili mu fayilo ya file NAME pogwiritsa ntchito DTP. Iliyonse mwa:

ExampLe:

pezani,/logi/NAME pezani,NAME
Yambani kubwezeretsanso zomwe zili mu fayilo ya file NAME kuyambira pa byte nambala 3870034 (kuwerengera ma byte kuchokera ku ziro). Yembekezerani kuti padutse nthawi yayitali pakati pa lamulo ndi yankho:

%% pezani,NAME,3870034 RE002%%

GREIS

www.javad.com

RECEIVER INPUT LANGUAGE Malamulo get
Example: Yambani kubwezeretsanso zomwe zili mu fayilo ya file wanga_logifile kuyambira pa byte 3000 pogwiritsa ntchito timeout masekondi 50 ndi block size ya 8192 bytes:
pezani, my_logfile{50,8192},3000
Example: Yambani kubwezeretsanso zomwe zili mu fayilo ya file NAME akusefa nthawi kuti zotsatira zake zibwezedwe file ingakhale data ya 0.1Hz:
pezani,NAME:{,,10}
Example: Yambani kubwezeretsanso zomwe zili mu fayilo ya file NAME pogwiritsa ntchito njira yosinthira (njira yoyesera yakhazikitsidwa 1):
pezani,NAME:{,,,,1}
Example: Tumizani zomwe zili mu file NAME atakulungidwa mu [>>] mauthenga okhala ndi id 61 (pokhala chizindikiro cha ASCII '='), pogwiritsa ntchito data yofikira ma 128 pa uthenga uliwonse:
pezani,NAME:{,128,,,-62}
Example: Tumizani zomwe zili mu file NAME adakulungidwa mu [RE] mauthenga pogwiritsa ntchito data yofikira 190 pa uthenga uliwonse, zotsogozedwa ndi %MY_ID%:
%MY_ID%peza,NAME:{,190,,,-257}

GREIS

www.javad.com

2.3.11 gawo

RECEIVER INPUT LANGUAGE Malamulo ayika

Dzina
yambitsani file kutsitsa pogwiritsa ntchito DTP1.

Ndemanga
Mtundu: kuika, chinthu[,kuchotsera] Zosankha: {timeout, block_size}

Zokangana
chinthu chozindikiritsa cha file kulemba deta ku. Ngati chinthu sichiyamba ndi "/", ndiye kuti "/ log/" chimaliziro chimayikidwa patsogolo pa chinthucho chisanapereke lamulo.
offset offset mu byte kuyambira pachiyambi cha file poyambira kulemba. Ngati yasiyidwa, 0 imaganiziridwa.

Zosankha

Gulu 2-6. ikani chidule cha zosankha

Dzina

Mtundu

Makhalidwe

Zosasintha

lekeza panjira

chiwerengero [0…86400], masekondi 10

block_size integer [1…163841]

512

1. 2048 kwa olandila omwe samathandizira TCP kapena USB.

kutha kwa nthawi ya DTP. block_size kukula kwa chipika cha data cha DTP.

Kufotokozera
Lamuloli limayamba kutsitsa deta kuchokera pakompyuta yolandila kukhala a file pa wolandila pogwiritsa ntchito Data Transfer Protocol (DTP). Palibe yankho lomwe limapangidwa pokhapokha ngati pali cholakwika, kapena kuyankha kukakamizidwa ndi chozindikiritsa mawu.
Lamulo loyika litapambana, wolandila DTP amayambika pa wolandila ndikudikirira kuti DTP transmitter iyendetsedwe pa wolandila. Chifukwa chake, kuti mukweze deta iliyonse, munthu amafunikira kukhazikitsidwa kwa ma transmitter a DTP pa wolandila.

1. Onani "Data Transfer Protocol" patsamba 580.

GREIS

www.javad.com

RECEIVER INPUT LANGUAGE Malamulo ayika

Mtsutso wosankha wosankha umalola wolandirayo kugwiritsa ntchito thandizo kuti ayambitsenso kusamutsa deta kwasokonekera. Mtengo wosagwirizana ndi ziro umalola wolandirayo kupempha zowonjezera mpaka kumapeto kwa zomwe zilipo file wa kukula kofananira.
Ngati offset ndi 0 ndi file chinthu kulibe, wolandila ayesa kupanga ndikutsegula kuti alembe chatsopano file ndi dzina lofotokozedwa ndi chinthu. Pankhaniyi lamulo lidzalephera ngati pali kale a file ndi dzina lopatsidwa.
Ngati kuchotsera kuli kwakukulu kuposa 0, ndipo pali a file chinthu, ndi file kukula ndi kofanana ndi mtengo wa offset, ndiye putty command idzatsegula file chinthu chowonjezera. Pankhaniyi lamulo lidzalephera ngati palibe file ndi dzina lopatsidwa kapena ngati kukula kwake komwe kulipo file sizikufanana ndi zomwe zafotokozedwa ndi offset.

Examples

Example: Yambitsani kutsitsa kwa data yatsopano file "NAME" pogwiritsa ntchito DTP. Iliyonse mwa:

ExampLe:

ikani,/log/NAME ikani,NAME
Yambani kukweza deta ndikuwonjezera zomwe zilipo file "DZINA". Gwiritsani ntchito nthawi yokhazikika ya DTP ndi kukula kwa block ya DTP 4096 byte. Pezani saizi ya file musanayambe kutsitsa (zindikirani kuti file Kukula kumafunikanso pa wolandirayo kuti athe kudumpha nambala iyi ya ma byte kuchokera kugwero lake file):

ExampLe:

sindikiza,/log/NAME&size RE008 3870034 ikani,/log/NAME:{,4096},3870034
Yambitsani kukweza deta ku yatsopano file "lemba_wangafile” pogwiritsa ntchito nthawi yopuma masekondi 50 ndi kukula kwa block ya 8192 byte:

kuika, my_logfile{50,8192}

GREIS

www.javad.com

2.3.12 gawo

RECEIVER INPUT LANGUAGE Commands fld

Dzina
fld firmware kutsitsa.

Ndemanga
Mtundu: fld,id,chinthu Zosankha: {timeout, block_size}

Zokangana
chingwe cha id chokhala ndi ID1 yamagetsi yolandila. Ngati ID yodziwika siyikugwirizana ndi ID yeniyeni yamagetsi ya wolandila, lamulolo lidzalephera ndikutulutsa uthenga wolakwika.
chizindikiritso cha chinthu cha gwero la firmware kuti ikwezedwe. Kapena dzina la wolandira file, kapena dzina la doko lolowera. Likakhala dzina la doko lolowera, mwina / cur/term kapena dzina lenileni la doko lomwe lilipo liyenera kuperekedwa, apo ayi cholakwika chidzanenedwa.

Zosankha

Gulu 2-7. fld options mwachidule

Dzina

Mtundu

Makhalidwe

lekeza panjira

chiwerengero [0…86400], masekondi

block_size integer [1…163841] 1. 2048 kwa olandira omwe sagwirizana ndi TCP kapena USB.

Zosasintha
10 512

kutha kwa nthawi ya DTP. block_size kukula kwa chipika cha data cha DTP.

Kufotokozera
Lamuloli limanyamula firmware kuchokera ku chinthu chodziwika kupita ku wolandila ndikukhazikitsanso wolandila. Palibe yankho lomwe limapangidwa pokhapokha ngati pali cholakwika, kapena kuyankha kukakamizidwa ndi chozindikiritsa mawu.

1. ID ikhoza kupezeka pogwiritsa ntchito print,/par/rcv/id command.

GREIS

www.javad.com

RECEIVER INPUT LANGUAGE Commands fld

Chenjezo:

Ngati kulephera kwamagetsi kapena kusokoneza koopsa kwa kusamutsidwa kwa firmware kudzera padoko kumachitika panthawi yotsitsa, wolandila atha kupita kumalo osagwira ntchito pomwe firmware yokhayo imatsitsa madoko a RS-232 pogwiritsa ntchito njira ya "Power-on Capture" ndiyotheka.
Ngati chinthucho chikuwonetsa zomwe zilipo file1, wolandila adzayang'ana kaye ngati file ili ndi firmware yovomerezeka kwa wolandila (zimatenga masekondi angapo kuti amalize). Ngati chekecho chikuyenda bwino, wolandila adzakweza fimuweya ndikudzikhazikitsanso. Zindikirani kuti yankho ku lamulo (ngati liripo) lidzatumizidwa pambuyo poti cheke yachitika koma firmware isanayambe kutsitsa. Zosankha zanthawi yomaliza ndi block_size sizimaganiziridwa pankhaniyi.
Ngati chinthu chikuwonetsa mtsinje wolowera, lamulolo litumiza yankho (ngati liripo) ndiyeno yambitsani cholandila cha DTP chomwe chimadikirira kuti DTP transmitter iyendetsedwe pa wolandila. Chifukwa chake, kuti mukweze firmware, munthu amafunikira kukhazikitsidwa kwa DTP transmitter pa wolandila. Self reset (kuyambiransoko) idzachitidwa ndi wolandira pambuyo kutsegula bwinobwino kapena kusokonezedwa.

Examples
Example: Kwezani firmware kuchokera ku file "firmware.ldp" kulowa wolandila ndi ID yamagetsi 123456789AB. Yembekezerani kuti masekondi angapo adutse pakati pa kutumiza lamulo ndi kulandira yankho, pomwe wolandila amayang'ana file kwa kutsimikizika kwa firmware:
%%fld,123456789AB,/log/firmware.ldp RE002%%
Example: Yambitsani kuyika kwa firmware kuchokera padoko la USB pogwiritsa ntchito block 16384 byte ndi nthawi yopuma masekondi 20. Pezani ID yamagetsi musanapereke lamulo:
print,rcv/id RE00C 8PZFM10IL8G fld,8PZFM10IL8G,/dev/usb/a:{20,16384}

GREIS

1. Zikuyembekezeka kuti file yomwe ili ndi firmware imakwezedwa kwa wolandila pasadakhale, mwachitsanzo, pogwiritsa ntchito put command.

www.javad.com

RECEIVER INPUT LANGUAGE Commands fld

GREIS

www.javad.com

Mutu 3
LANDIRANI MAUTHENGA

Mutuwu ukufotokoza zamtundu wa mauthenga wamba a GREIS komanso mitundu ina ya mauthenga onse omwe adafotokozedweratu. Kupatula mauthenga wamba a GREIS, wolandila amathandizira mauthenga angapo amitundu yosiyanasiyana, monga NMEA kapena BINEX. Maonekedwe a mauthenga “achilendo” amenewo afotokozedwa kumapeto kwa mutu uno.
3.1 Misonkhano Yachigawo
3.1.1 Mafotokozedwe a Format
Kufotokozera mawonekedwe ena monga katsatidwe ka ma byte1 mumpangidwe wophatikizika, timatanthauzira mawonekedwe amitundu ingapo yoyambira ndikugwiritsira ntchito mawu oyandikira omwe amagwiritsidwa ntchito muchilankhulo cha pulogalamu C kupanga matanthauzidwe amitundu yovuta kwambiri:
pangani DZINA {LENGTH} { TYPE FIELD[COUNT]; // MAWU OLANKHULIDWA ... TYPE FIELD[COUNT]; // MAWU
};
kumene:
NAME dzina lomwe laperekedwa kumtunduwu. Itha kugwiritsidwa ntchito mumitundu ina ngati TYPE ya gawo.
LENGTH kutalika kwa mabayiti a mndandanda wonse. Kwa mtundu wokhazikika wautali, ndi nambala, ya uthenga wosiyana wautali, ikhoza kukhala mawu a masamu kutengera magawo ena osinthika kapena chingwe cha var.
TYPE FIELD[COUNT] chofotokozera gawo. Ikufotokoza mndandanda wa zinthu COUNT za TYPE zomwezo zomwe zimapatsidwa dzina FIELD. TYPE ikhoza kukhala imodzi mwazinthu zomwe zafotokozedwa pansipa, kapena NAME yamtundu wina. Pamene [COUNT] palibe, gawoli limakhala ndi chinthu chimodzi ndendende. Pamene COUNT palibe (ie, pali mabulaketi opanda masikweya okhawo, []), zikutanthauza kuti gawolo lili ndi kuchuluka kwa maelementi osadziwika.

GREIS

1. M'nkhani ya mutu uno, "byte" amatanthauza chinthu cha 8-bit. Pang'ono pang'ono baiti ili ndi index ziro.

www.javad.com

MALANGIZO OLANDIRA UTHENGA
Mafotokozedwe a Format

KUDZULONSO kulongosola kwa munda pamodzi ndi miyeso yake ndi milingo yololedwa, ngati kuli koyenera. Magawo oyezera amazunguliridwa ndi mabatani akulu akulu.
Mitundu yotsatirayi imatchulidwa:

Gulu 3-1. Mitundu Yoyambira Yamunda

Type Dzina

Tanthauzo

Utali mu Bytes

Chithunzi cha ASCII

nambala yosaina

nambala yosasainidwa

IEEE-754 single mwatsatanetsatane zoyandama malo

IEEE-754 pawiri mwatsatanetsatane poyandama mfundo

str

kutsatizana kwa zilembo za ASCII zosiya ziro

Kuti titanthauzire mtundu wina wake, tiyeneranso kutchula dongosolo la mabayiti m'magawo oyambira osaphatikiza omwe ali ma multi-byte (i2, i4, u2, u4, f4, f8). Kwa mauthenga a GREIS dongosolo ili limatanthauzidwa ndi [MF] uthenga, onani "[MF] Mauthenga Format" patsamba 74 kuti mudziwe zambiri.
Pogwiritsa ntchito matanthauzo omwe ali pamwambawa ndizotheka (mobwerezabwereza) kukulitsa mawonekedwe amtundu uliwonse kutsatana ndi ma byte. Za example, fomu
kupanga Eksampndi {9} {u1 n1; f4 n2; i2 n3[2];
};
imakula mpaka kutsatizana kotsatira kwa ma byte kutengera dongosolo locheperako (LSB):
n1[0](0), n2[0](0),n2[0](1),n2[0](2),n2[0](3), n3[0](0),n3[0](1),n3[1](0),n3[1](1)

GREIS

www.javad.com

GREIS

MALANGIZO OGWIRITSA NTCHITO Mawuthenga Okhazikika
Makhalidwe Apadera
ndi kutsatizana kotsatira kwa ma byte kutengera dongosolo la byte loyamba (MSB):
n1[0](0), n2[0](3)n2[0](2)n2[0](1)n2[0](0) n3[0](1)n3[0](0)n3[1](1)n3[1](0)
pomwe x[i](j) imatchula j-th byte (byte #0 kukhala yocheperako kwambiri) ya i-th element pamunda x.

3.1.2 Makhalidwe Apadera

Kwa mauthenga a binary, ena mwa magawo awo ophatikizika ndi oyandama amatha kukhala ndi zofunikira zapadera, zomwe zimagwiritsidwa ntchito m'malo mwa deta yeniyeni pamene palibe deta yamunda yomwe ilipo. Minda ya Binary yomwe kuwunika kwamtengo wapadera kumafunikira pakuchotsa deta kumalembedwa ndi chilembo chofuula, "!" mu ndime yoyamba ya tanthauzo la munda.
Tebulo ili limafotokoza zamtengo wapatali wamitundu yosiyanasiyana ya data:

Gulu 3-2. Makhalidwe Apadera a Minda

Field Type
i1 u1 i2 u2 i4 u4 f4 f8

Mtengo Wapadera
127 255 32767 65535 2147483647 4294967295 chete NaN chete NaN

Kuyimira kwa HEX
7F FF 7FFFF 7FFF_FFFF FFFF_FFFF 7FC0_0000 7FF8_0000_0000_0000

3.2 Mtsinje wa Uthenga Wabwino

Standard GREIS message stream ndi mndandanda wa mauthenga amitundu iwiri, GREIS wamba, ndi ma meseji omwe si wamba.
Mauthenga ofunika kwambiri komanso ogwiritsidwa ntchito kwambiri ndi mauthenga ambiri a GREIS. Mawonekedwe awo onse adapangidwa mosamala kuti athe kulola zonse za binary komanso zolemba-

www.javad.com

MAUTHENGA OLANDIRA Maonekedwe A Mauthenga Onse
Mauthenga Okhazikika
sages, ndikupangitsa kuti mapulogalamu azitha kudumpha bwino mauthenga omwe pulogalamuyo sakudziwa kapena sakufuna nayo.
Kuthandizira ma meseji osagwirizana ndi mameseji, omwe akuyenera kutsatirabe mawonekedwe omwe afotokozedwa m'bukuli, kumathandizira kusakaniza mauthenga wamba a GREIS ndi mauthenga amitundu ina mumtundu wa data wa GREIS. ExampLe amtundu wotere ndi mauthenga a NMEA.
Mauthenga osakhala amtundu wamilandu yapadera, mauthenga omwe ali ndi ASCII okha ndi/kapena zilembo, zimayikidwa ndi injini yosinthira uthenga mu wolandila pakati pa mauthenga wamba a GREIS kuti uthengawo ukhale womveka bwino ngati utumizidwa ku terminal kapena mawu amtundu uliwonse. viewer kapena editor application.
Kupatula mauthenga wamba a GREIS ndi ma meseji osakhala wamba, zolandila za JAVAD GNSS nthawi zambiri zimathandizira mitundu ina yambiri (mwachitsanzo, RTCM, BINEX, CMR). Komabe, mawonekedwewa ndi osagwirizana ndi mawonekedwe amtundu wa GREIS. Ngati mtsinje utakhala ndi mauthenga amitunduyi, sungathenso kutchedwa GREIS wokhazikika wa uthenga, ndipo sungathe kugawidwa ndi malamulo omwewo monga mtsinje wokhazikika.1

3.3 Mawonekedwe Azambiri a Mauthenga

3.3.1 Mauthenga Okhazikika

Maonekedwe a uthenga uliwonse wokhazikika ali motere:

struct StdMessage {var} {

a1 ID[2];

// Chizindikiro

utali a1[3];

// Hexadecimal thupi kutalika, [000...FFF]

u1 thupi[kutalika]; // Thupi

};

Uthenga uliwonse wokhazikika umayamba ndi chizindikiritso chauthenga chapadera chokhala ndi zilembo ziwiri za ASCII. Zilembo zilizonse kuchokera pagawo laling'ono "0" mpaka "~" (ie, manambala a decimal ASCII apakati pa [48…126]) amaloledwa kuzindikiritsa.

GREIS

1. Ndipotu, mawonekedwe a mauthenga ovomerezeka a GREIS ndi osinthika kwambiri moti amatha kuphatikizirapo deta iliyonse mumtundu wa data wa GREIS, koma ndiye kuti mtsinje wosagwirizana uyenera kukulungidwa muzotsatira za mauthenga apadera a GREIS. Uthenga wofotokozedwatu wokhala ndi chizindikiritso ">>" umagwira ntchito imeneyi.

www.javad.com

MAUTHENGA OLANDIRA Maonekedwe A Mauthenga Onse
Mauthenga Osavomerezeka
Chizindikiritso cha uthenga chimatsatiridwa ndi kutalika kwa gawo la thupi la uthenga. Gawo ili, lomwe lili ndi manambala atatu apamwamba a hexadecimal, limatchula kutalika kwa uthengawo mu ma byte. Chifukwa chake kutalika kwa thupi la uthenga ndi ma byte 4095 (0xFFF).
Thupi la uthenga limatsatira nthawi yomweyo pambuyo pa gawo lautali ndipo lili ndi chiwerengero cha ma byte otchulidwa ndi gawo lautali. Palibe zoletsa pa zomwe zili mubungwe la uthenga zomwe zimatanthauzidwa ndi mtundu wamba. Maonekedwe a gulu la uthenga mu uthenga amatanthauzidwa momveka bwino ndi chizindikiritso cha uthenga. Mawonekedwe a mauthenga a mauthenga onse omwe afotokozedwatu

3.3.2 Mauthenga Opanda muyezo

Maonekedwe a ma meseji omwe si a standard ali motere:

pangani NonStdTextMessage {var} {

a1 id;

// Chizindikiritso, [!…/]

thupi a1[];

// Thupi lautali wokhazikika, [0…)

a1 omwe;

// Kutha kwa uthenga ( kapena )

};

Chizindikiritso cha uthenga ndi munthu aliyense pagululi [!... /] (makhodi a decimal ASCII mugulu [33…47]). Chizindikiritso cha uthenga ndichosasankha. Ngati palibe, gulu lauthenga liyenera kukhala ndi kutalika kwa ziro (mwachitsanzo, kulibenso).

Thupi la uthenga ndi mndandanda wa zilembo za ASCII kupatula (decimal kodi 13) ndi (decimal code 10) zilembo. Palibe malire pautali wa thupi omwe amaperekedwa ndi mawonekedwe.

Mapeto a chikhomo cha uthenga mwina kapena khalidwe.

Dziwani kuti mawonekedwewa amalola mauthenga osakhala wamba okhala ndi zilembo za CR kapena LF zokha. Izi zimathandiza kuti mauthenga amtundu wa GREIS aziwoneka ngati owerengeka kwambiri akamatulutsa deta ku terminal yofuna zonse kapena viewkukhala ndi generic text viewer kapena editor.

Chimodzi mwa zizindikiritso za meseji zomwe sizili wamba, dzina la "$", lasungidwa kale ngati chizindikiritso cha mauthenga wamba a NMEA. Palibe ma meseji ena omwe si oyenera kugwiritsa ntchito “$” ngati chizindikiritso.

3.3.3 Mtsinje wa Mauthenga Otsatira
Mugawoli, mupezamo maupangiri ndi maupangiri amomwe mungalembe ma code omwe amafunikira kuti muwunikire uthenga wa GREIS wolandila. Ngakhale sitikambirana mwatsatanetsatane mubukuli, tikufuna kutsindika apa kuti uthenga wokhazikika

GREIS

www.javad.com

MAUTHENGA OLANDIRA Maonekedwe A Mauthenga Onse
Parsing Message Stream
mtundu umakupatsani mwayi wokonza / kusanthula bwino pafupifupi uthenga uliwonse wa GREIS womwe mungakumane nawo pochita.

Zindikirani:

Kuyanjanitsa
Mukamapanga mtsinje wa uthenga, choyamba muyenera kupeza malire apafupi. Izi ndizomwe zimatchedwa "synchronization". Kuyanjanitsa kwa mauthenga kumachitika pamene kuyika kwayambika kapena pamene kulunzanitsa kwatayika chifukwa cha zolakwika mumtsinje wa data. M'malo mwake, kuti muchepetse ma aligorivimu, mutha kuganiza kuti mwalumikizidwa kale mukayamba kusanthula mayendedwe a data. Ngati zichitika kuti sizili choncho, kulakwitsa kwapang'onopang'ono kuyenera kuchitika. Kenako mumalumpha munthu m'modzi kuchokera pazolowera ndikuyesa ngati mwalumikizidwanso. Njira yotereyi imathetsa ntchito yolumikizana bwino ngati gawo lapadera la algorithm yogawa.
Chifukwa chakuti kuchuluka kwa zolakwika pamayendedwe oyenera a data kuyenera kukhala kotsika, kulunzanitsa sikuyenera kukhala ntchito yanthawi zonse. Kuphatikiza apo, mayendedwe a data a GREIS nthawi zambiri amakhala ndi mauthenga aafupi, kotero mtunda wopita kumalire apafupi ndi uthenga umakhala wawung'ono. Poganizira izi, palibe chofunikira kuti algorithm yolumikizana ikhale yachangu kwambiri.

Zindikirani:

Kulumphira ku Uthenga Wotsatira
Kukhala ndi kutalika mumtundu wamba wa mauthenga a GREIS amakulolani kunyalanyaza mauthenga mosavuta popanda kudziwa maonekedwe a thupi lawo. Timalimbikitsa kwambiri kulemba ma parsers kuti adumphe mauthenga osadziwika.
Kuti muchoke pa uthenga womwe uli pano kupita ku wina, chitani zotsatirazi:
1. Tangoganizani kuti uthenga wapano ukuyambira pa “N”. Dziwani kutalika kwa uthenga wapano (sankhani zilembo ## N+2, N+3, N+4). Yerekezerani kuti kutalika kwa uthenga ndi kofanana ndi L. Dumphani zilembo za L+5 zoyamba kuyambira pa malo “N”.
2. Dumphani zonse ndi zilembo (ngati zilipo).
Kunena zowona, sitikupangira kuti mugwiritse ntchito mu code yanu yoyika zidziwitso zilizonse zokhuza kukula ndi zomwe zili m'mabungwe authenga. Ngati mulemekeza izi, simudzakhala ndi vuto ndi pulogalamu yogawa ngati mauthenga ena asinthidwa.
Malamulo ndi maupangiri ofotokozera matupi a mauthenga a mauthenga omwe afotokozedwa kale a GREIS amakambidwa pambuyo pake mu "Parsing Message Bodies" patsamba 67.

GREIS

www.javad.com

GREIS

MALANGIZO OLANDIRA Mauthenga Osasinthika
Magulu a Uthenga Wabwino
3.4 Mauthenga Ofotokozeratu
M'gawo lino tidziwitsa owerenga za mauthenga omwe afotokozedwa kale a GREIS. Tikanena za uthenga wokhala ndi chizindikiritso XX, timagwiritsa ntchito mawu akuti [XX]. Ngakhale mauthenga ambiri amatchulidwa ndi chizindikiritso cha uthenga wawo mu GREIS, ena a iwo, makamaka omwe ali ndi zozindikiritsa zopanda zilembo, ali ndi mayina omwe ndi osiyana. Kwa mauthenga oterowo mawu akuti [XX](NN) amagwiritsidwa ntchito, pomwe XX ndi chizindikiritso cha uthenga, ndipo NN ndi dzina lauthenga loti ligwiritsidwe ntchito pamalamulo a GREIS. Za example uthenga [~~](RT) uli ndi mutu "~~" ndipo umatchedwa /msg/jps/RT mu malamulo a GREIS.
Chigawochi chikufotokozera mawonekedwe a matupi a mauthenga onse omwe afotokozedwatu. Kumbukirani kuti mumtundu wa data uthenga uliwonse uli ndi mutu wokhazikika womwe umatanthauzidwanso ndi mtundu wamba.
3.4.1 Mabungwe a Uthenga Wabwino
Zowonjezera Format Zololedwa
Mawonekedwe a mauthenga apaintaneti okhala ndi kukula kwa uthenga wokhazikika amalola kuwonjezera magawo a data mtsogolo. Minda yatsopano imaloledwa kuyikidwa kumapeto kwa gulu la uthenga musanafike gawo la checksum (ngati liripo). Kusintha koteroko kwa mabungwe a mauthenga kumatengedwa ngati zowonjezera, osati zosagwirizana.
Ngakhale ma meseji wamba a GREIS si mauthenga okhala ndi kukula kwauthenga wokhazikika, magawo atsopano atha kuwonekerabe mu mauthengawa mtsogolomo. Minda yatsopano ikhoza kuyikidwa kumapeto kwa meseji yomwe ilipo kale pamalo acheke, kapena nthawi yomweyo chikwatu chilichonse chakumanja chisanakhale (}). Za example, uthenga womwe ukuwerengedwa motere:
…1,{21,22},3,@CS
ikhoza kuwonjezeredwa pambuyo pake
…1,{2.1,2.2,2.3},3,4,@CS
kumene magawo awiri owonjezera, "2.3" ndi "4", adawonjezedwa.
Gwiritsani ntchito ma algorithms anu poganizira malamulo otsatirawa kuti azitha kugwira ntchito ngakhale ndi zowonjezera zamtsogolo:
1. Musaganize kuti kukula kwa uthenga womwe walandira kuyenera kufanana ndendende ndi kukula kwake komwe kwafotokozedwa m'chikalatachi. Pokhapokha ngati uthengawo uli waufupi kwambiri ndiye kuti simungagwiritse ntchito zomwe zili mkati mwake. Ngati uthengawo ndi wautali kuposa momwe mukuyembekezeredwa, ingonyalanyazani zochulukirapo.
2. Yambitsani gawo la cheke pokhudzana ndi kumapeto kwa gulu la uthenga.

www.javad.com

MALANGIZO OLANDIRA Mauthenga Osasinthika
Mfundo Zazikulu
3. Yambitsani madera ena a data okhudzana ndi chiyambi cha thupi la uthenga. 4. Ganizirani lamulo lomwe lili pamwambali lowonjezera mameseji nthawi
kulemba data extractors kwa mauthenga.
Macheke
Uthenga utachotsedwa pamayendedwe a data pogwiritsa ntchito njira zomwe zafotokozedwa mu "Parsing Message Stream" patsamba 65, ndipo chizindikiritso cha uthenga chikuwoneka kuti ndi chimodzi mwazomwe pulogalamuyo ikufuna, gulu la uthenga liyenera kugawidwa kuti lichotse zomwezo. . Musanayambe kuchotsa zomwe zili mkati, checksum ya uthenga iyenera kuwerengedwa ndikuyerekeza ndi checksum yomwe ili mu uthengawo.
Mauthenga ambiri omwe afotokozedwatu amakhala ndi checksum. Checksum imawerengedwa pogwiritsa ntchito mutu wa uthenga (ie, “chizindikiritso cha uthenga” kuphatikiza “utali wa thupi la uthenga”) ndi thupi lenilenilo. Onani "Computing Checksums" patsamba 579 kuti mumve zambiri pakuwerengera cheke.
Checksum nthawi zonse imayikidwa kumapeto kwenikweni kwa thupi la uthenga. Ngati dongosolo la uthenga lisinthidwa powonjezera gawo latsopano la deta, magawo atsopano a deta adzawonjezedwa pamaso pa cheke. Izi zikufotokozera chifukwa chake tikulimbikitsidwa kuwongolera gawo la checksum pofika kumapeto kwa gulu la uthenga.
3.4.2 Mfundo Zazikulu
Ma Scale a Nthawi
Pali masikelo asanu omwe wolandila angagwire:
Tr wolandila nthawi Tg GPS system nthawi Tu UTC(USNO). Universal Coordinated Time mothandizidwa ndi US Naval Obser-
vatory. Tn GLONASS dongosolo nthawi. Ts UTC(SU). Universal Coordinated Time mothandizidwa ndi State Time ndi Fre-
quency Service, Russia.
"Nthawi yolandirira" ndiyo gridi yokhayo yomwe imapezeka nthawi zonse pa wolandila (mwachitsanzo, ma gridi omwe ali pamndandanda womwe uli pamwambawa angakhalepo kapena sangakhalepo pakadali pano).
M'malo mwake, cholandila cha JAVAD GNSS nthawi zonse chimagwirizanitsa nthawi yake yolandila ndi imodzi mwa masikelo anayi apadziko lonse lapansi: nthawi ya GPS, UTC(USNO), nthawi ya GLONASS, kapena UTC(SU). The

GREIS

www.javad.com

GREIS

MALANGIZO OLANDIRA Mauthenga Osasinthika
Mfundo Zazikulu
nthawi yosankhidwa motere imatchedwa "nthawi yolandirira" (Trr) pambuyo pake mu gawo lino1.
Makina osiyanasiyana a nthawi amatha kukhala ndi nthawi yosiyana (mawonekedwe) okhudzana nawo (mwachitsanzo, pa nthawi ya GPS, timagwiritsa ntchito mawu monga "nambala ya sabata", "nthawi ya sabata", ndi zina zotero). Zindikirani, komabe, kuti chiwonetsero cha "nthawi yolandira" sichidzadalira nthawi yolozera yosankhidwa ndipo nthawi zonse imayimiridwa ngati tsiku ndi nthawi ya tsiku.
Mauthenga ambiri omwe afotokozedwatu mulibe zambiri za nthawi mkati. Mu wathu view, zingakhale mopambanitsa kugwiritsa ntchito imodzi ndi nthawi yomweyo tag ndi mauthenga onse ambiri omwe wolandirayo amapanga pa nthawi yomwe ilipo. Mukatulutsa zidziwitso zolandila zomwe zilipo pakalipano, nthawi zambiri mumalandila mauthenga osiyanasiyana. M'malo mopatsa aliyense wa iwo nthawi yake payekha tag data, timagwiritsa ntchito uthenga wapadera womwe umanyamula zidziwitso za nthawi yolandila zomwe zimafanana ndi mauthengawa. Uthengawu umatchedwa "Nthawi Yolandira" ndipo uli ndi chizindikiritso [~~].
Pali, komabe, njira yogwirira ntchito, yotchedwa RTK modeeded mode, pomwe wolandila nthawi yomwe wapatsidwa amatha kutulutsa yankho lomwe limatchulidwira kunthawi ina m'mbuyomu. Kupereka nthawi tag panjira yotere, nthawi yapadera ya Solution Time-Tag [ST] uthenga wagwiritsidwa ntchito. Ndipotu uthenga uwu umapereka nthawi yoyenera tag yankho munjira zonse zogwirira ntchito, ngakhale m'njira zambiri zimakhala ndi nthawi yofanana ndi [~~].
Pali mauthenga ena omwe ali ndi nthawi tag data field. Awa ndi mauthenga omwe ali ndi chidziwitso chomwe chimawonekera pawokha pa grid epoch grid. ExampLero la uthenga wotere ndi "Chochitika" [==].
Delimiters
M'malo mwake, uthenga wa "Receiver Time" uyenera kutsogola mauthenga ena onse omwe apangidwa panthawiyi motero amaika malire a mauthenga ogwirizana ndi nthawi zosiyanasiyana. Kuchokera pamfundo yokhazikika ya view, zili kwa wosuta kufotokozera dongosolo la mauthenga mumtsinje wotuluka. Komabe, kusamala kuyenera kuchitidwa kuti kuwonetsetsa kuti dongosolo lomwe mauthenga amalembedwera mumayendedwe akutuluka sikuphwanya "epoch synchronization", yomwe ndi yofunika kwambiri pokonza pambuyo pokonza deta yolowetsedwa ndi mapulogalamu a pulogalamu ya JAVAD GNSS. Kuti mumve zambiri pamawu osasinthika onani "Maseti a Mauthenga" patsamba 562.
Pazogwiritsa ntchito zenizeni ndikofunikira kudziwa kutha kwa nthawi posachedwa. Pazinthu zotere, kungoyika malire a nthawi ndi chizindikiro cha "start of epoch" sikoyenera. Tikukulangizani kuti mugwiritse ntchito uthenga wa "Epoch Time" [::](ET) ngati cholembera "mapeto a epoch". Uthengawu uli ndi nthawi yofanana ya tsiku yomwe imapezeka mu uthenga wa "Receiver Time" womwe umalola kuwunika bwino kukhulupirika. Lingaliro ndilo kuyerekeza nthawi tag

1. Mu firmware yaposachedwa yolandila nthawi yolozera wolandila ndi GPS kapena GLONASS system nthawi, tchulani /par/raw/time/ref patsamba 220.

www.javad.com

GREIS

MALANGIZO OLANDIRA Mauthenga Osasinthika
Mfundo Zazikulu
kuchokera ku [::] uthenga wotsutsana ndi nthawi tag kuchokera ku uthenga wofananira [~~]. Zosiyana tags ndi chizindikiro cha nthawi yosweka.
Mudzazindikira kuti mauthenga ambiri ali ndi zozindikiritsa zomwe zimakhala ndi manambala ndi/kapena zilembo zachingerezi. M'malo mwake, "Receiver Time" [~~] ndi uthenga wokhawo womwe chizindikiritso chake chimagwiritsa ntchito zilembo "~". Ndizomveka ngati uthenga wa [~~] umagwira gawo lofunikira kwambiri ngati gawo la epoch delimiter. Choncho pali njira zodzitetezera kuti muchepetse mwayi wotaya uthenga wofunikirawu. Mofananamo, chizindikiritso cha uthenga wa "Chochitika" ([==]), nawonso, uyenera kukhala wosiyana momwe angathere popeza mapulogalamu a pulogalamu angagwiritse ntchito zochitika zaulere monga zochepetsera.
Lingaliro la kugwiritsa ntchito zizindikiritso "zosiyana kwambiri" za mauthenga omwe amaika malire ndi omveka bwino. Ngati cheke cha uthenga chikhala cholakwika, ingoyang'anani chizindikiritso chake. Ngati zilembo za chizindikiritso sizikugwirizana ndi "~", ndiye kuti sizokayikitsa kuti uwu ndi uthenga wolakwika [~~]. Chifukwa chake, simuyenera kulumphira ku uthenga wotsatira [~~] pankhaniyi.
Kumbali ina, ngati meseji ili ndi chequesum yolondola koma chimodzi mwa zizindikiritso ndi "~", ndiye kuti zingakhale zotetezeka kuwona uthengawu ngati uthenga wowonongeka [~~]. Pamenepa pitani ku uthenga wotsatira [~~].

Mitundu Yothetsera

Munda wa "solType" womwe umagwiritsidwa ntchito m'mawu ambiri omwe adafotokozedweratu umawonetsa mtundu wa yankho lofananira ndipo ukhoza kukhala ndi izi:
Gulu 3-3. Mitundu Yothetsera

Mtengo

Tanthauzo

ayi

Zolemba / Zothandizira

JAVAD GREIS GNSS Receiver Yakunja Interface [pdf] Buku Logwiritsa Ntchito
GREIS GNSS Receiver Yakunja Chiyanjanitso, GREIS, GNSS Receiver Yakunja Chiyankhulo, Chiyankhulo Chakunja Cholandila, Chiyankhulo Chakunja, Chiyankhulo

Maumboni

Buku Logwiritsa Ntchito

JAVAD GREIS GNSS Receiver Yakunja Interface

Zofotokozera

Zambiri Zamalonda

Mawu Oyamba

Chilankhulo Cholowetsa Cholandila

Mauthenga Olandila

FAQs

Zolemba / Zothandizira

Maumboni

Siyani ndemanga

Letsani yankho