AHRS

Advanced Configuration
User Guide
 AHRS - Advanced Configuration - User Guide

Document Revision History

Edition Date Comments

A 09/2011 First Edition

B 03/2012 iXBlue graphical chart applied to the document
C 01/2015 OCTANS NANO product added
Appendice B added
D 03/2015 New style guide updated to the document
E 11/2015 Input and output protocols lists updated

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 AHRS - Advanced Configuration - User Guide

Copyright
All rights reserved. No part of this manual may be reproduced or transmitted, in any form
or by any means, whether electronic, printed manual or otherwise, including but not
limited to photocopying, recording or information storage and retrieval systems, for any
purpose without prior written permission of iXBlue.

Disclaimer
iXBlue specifically disclaims all warranties, either expressed or implied, included but not
limited to implied warranties of merchantability and fitness for a particular purpose with
respect to this product and documentation. iXBlue reserves the right to revise or make
changes or improvments to this product or documentation at any time without notify any
person of such revision or improvments.
In no event shall iXBlue be liable for any consequential or incidental damages, including
but not limited to loss of business profits or any commercial damages, arising out of the
use of this product.

Trademarks
Microsoft, MS-DOS and Windows are registered trademarks of Microsoft Corporation.
Intel and Pentium are registered trademarks and Celeron is a trademark of Intel
Corporation.

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 AHRS - Advanced Configuration - User Guide

Text Usage

bold Bold text is used for items you must select or click in the
software. It is also used for the field names used into the dialog
box.
Courier Text in this font denotes text or characters that you should enter
from the keyboard, the proper names of disk Drives, paths,
directories, programs, functions, filenames and extensions.
italic Italic text is the result of an action in the procedures.

Icons
The Note icon indicates that the following information is of particular interest and should
be read with care.

Important

The Important mention indicates that the following information should be read to forbid or
prevent a product dysfunction or a faulty operation of the equipment.

The Caution icon indicates that the following information should be read to forbid or
prevent product damage.

The Warning icon indicates that possible personal injury or death could result from failure
to follow the provided recommendation.

Abbreviations and Acronyms

Abbreviations and acronyms are described in document Inertial Products - Principle &
Conventions (Ref.: MU-INS&AHRS-AN-003).

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 AHRS - Advanced Configuration - User Guide

Overview of this Document

This document is the Advanced Configuration User Guide for the Attitude and Heading
Reference Sensor (AHRS). This document is a part of the set of documentation provided
with the AHRS. The set of documentation must be read and understood prior to using the
AHRS.
The manufacturer shall in no case be held liable for any application or use that does not
comply with the stipulations in this guide.
AHRS – Advanced Configuration - User Guide is divided into several parts:

• Part 1: Introduction – This part introduces the commands describes in this user
guide.
• Part 2: Version of Products Concerned – This part lists all the products and the
firmware version associated to which this user guide applies. This section lists the
availability of the commands depending on the products.
• Part 3: General Conventions – This part describes command syntax and how to send
and receive commands.
• Part 4: General System Configuration – This part lists the available commands to
configure the AHRS.
• Part 5: Interfaces Configuration – This part describes commands to configure serial
or Ethernet ports and analog Inputs and Outputs (I/O).
• Part 6: Dynamic String Retrieve Commands: This part describes commands to
retrieve all configuration strings to dynamically get firmware feature list.
• Appendix A: NMEA Checksum Web Page – This appendix gives a mean to calculate
the checksum (“hh” parameter) required in all transmitted sentences.
• Appendix B: Factory Setting Details – This appendix details the factory default
settings.

A Table of Contents is available in the following pages to allow a quick access to

dedicated information.

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Table of Contents

1 INTRODUCTION .............................................................................................................. 6
2 VERSION AND PRODUCTS CONCERNED .......................................................................... 7
3 GENERAL CONVENTIONS ............................................................................................... 8
3.1 COMMAND SYNTAX ..................................................................................................................... 8
3.2 HOW TO SEND AND RECEIVE COMMANDS..................................................................................... 8

4 GENERAL SYSTEM CONFIGURATION ............................................................................... 9

4.1 SAVE TO EEPROM..................................................................................................................... 9
4.2 SOFTWARE SYSTEM REBOOT ...................................................................................................... 9
4.3 WEB MMI PASSWORDS RESET .................................................................................................... 9
4.4 M ANUAL POSITION AND SPEEDS .................................................................................................. 9
4.5 AXIS ORIENTATION .................................................................................................................... 10
4.6 HEADING, ROLL AND PITCH ANGULAR OFFSETS.......................................................................... 12
4.7 M AIN LEVER ARM ..................................................................................................................... 13
4.8 SECONDARY LEVER ARMS ........................................................................................................ 13
4.9 CENTER OF GRAVITY POSITION.................................................................................................. 13
4.10 HEAVE PARAMETERS ................................................................................................................ 14
4.11 UTC (TIME SYNCHRONIZATION) INTERFACE ............................................................................... 14

5 INTERFACES CONFIGURATION ...................................................................................... 15

5.1 PORT MAPPING AND ID .............................................................................................................. 15
5.2 SERIAL AND ETHERNET COMMANDS .......................................................................................... 16
5.2.1 Serial I/O General Parameters (Parity, Stop Bit, Level, Baudrate) .................................... 16
5.2.2 Serial/Ethernet Input Port Configuration ............................................................................ 17
5.2.3 User Defined Output Protocol ............................................................................................ 18
5.2.4 Serial/Ethernet Output Port Configuration ......................................................................... 18
5.2.5 Output Device Selection .................................................................................................... 20
5.2.6 Input Device Selection ....................................................................................................... 20
5.3 ETHERNET CONFIGURATION ...................................................................................................... 21
5.3.1 Network Setup Command .................................................................................................. 21
5.3.2 IP Output Configuration ..................................................................................................... 21
5.3.3 IP Input Configuration ........................................................................................................ 22
5.4 PULSES INTERFACES ................................................................................................................. 23
5.4.1 Input Pulses ....................................................................................................................... 23
5.4.2 Output Pulses .................................................................................................................... 23

6 DYNAMIC STRING RETRIEVE COMMANDS ...................................................................... 24

6.1 GENERIC TEXT RETRIEVE COMMAND ......................................................................................... 24

APPENDICES..................................................................................................................... 26
A NMEA CHECKSUM WEB PAGE .................................................................................... 26
B ORIENTATION AND SIGN CONVENTIONS RECALL ............................................................ 27
C FACTORY SETTING DETAILS......................................................................................... 28

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1 INTRODUCTION

This document describes the Attitude and Heading Reference Sensor (AHRS)
configuration and monitoring commands which can be used during operation. These
commands are sent directly through the repeater port to check settings and modify AHRS
or external sensors configuration (depending of the external sensor and of the AHRS
capabilities), to reset the unit, and save the configuration to PROM.

Full configuration of the AHRS, prior to operation, requires the use of the Web-based User
Interface.
However, commands described below are exactly equivalent to the ones which are sent
by the Web-based User Interface. They may be useful when launching and using the
Web-based User Interface during operation is not possible.

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2 VERSION AND PRODUCTS CONCERNED

th
The current edition of this document is applicable to the following 4 generation AHRS:

Table 1 – List of products and firmware

Product Firmware version

OCTANS
higher than FrmWCINT_OCT_v3.87 version
OCTANS 3000

OCTANS NANO higher than FrmWCINT_INS_v5.64 version

Refer to section 6.1 to check the firmware version currently downloaded into your unit.

Several commands described in this manual are associated with specific external
sensors that may not be available on your product. Please, refer to your Product User
Manual to check which external sensors are available.

Contact iXBlue customer support to get the updated firmware version to be downloaded
into your system (see document: Inertial Products - General Information (Ref.: MU-
INS&AHRS-AN-007) for contact information).

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3 GENERAL CONVENTIONS

3.1 Command Syntax

All frames are compatible with NMEA 0183 standard and are formatted as follows:
$CMD[,xxx,…,…y*hh<CR><LF> for configuration commands
$PHTXT,CMD[,xxx,…,..y]*hh<CR><LF> for configuration text retrieve commands
$ is a header and “CMD” depends on the command
Brackets [ ] indicates optional parameters, depending on the command. Most commands
can be used either to send configuration parameters “xxx,…,..y” to the system, or to ask
for the current value for the parameter. In such case, the “,xxx,…,..y” should be replaced
by “,,”.
“hh” is the checksum of the sentence, and allows for a control during the transmission. It is
calculated by exclusive-OR’ing (XOR) the 8 bits (no start bits or stop bits) of each
character in the sentence, excluding “$” and “*”. The hexadecimal value of the most
significant and least significant 4 bits of the result are converted to two ASCII (0-9, A-F) for
transmission. The most significant character is transmitted first.
The checksum field is required in all transmitted sentences. All frames should be ended by
the two characters <CR><LF> (0D 0A hexadecimal).
A Web based NMEA calculator is given in Appendix A to help computing checksums.

3.2 How to Send and Receive Commands

The AHRS will listen for COMMAND protocol on repeater port.
On repeater port, serial configuration is fixed and set to 19200 bauds, odd parity bit, 2
stop bits. Repeater port will also output OCTANS STANDARD protocol. Answers to
commands sent to this port will thus be mixed in OCTANS STANDARD output frames
(refer to AHRS Interface Library (Ref.: MU-AHRS-AN-003) for details).
If a command is not correctly formatted, the AHRS will ignore it and no answer will be
sent. If a parameter is out of allowed range, it will be ignored by the AHRS and set to
default value (0 or none). Thus, to confirm that a command was correctly handled by the
AHRS, the control application should systematically send the command to change a
parameter, and then send the read back command to check stored value. After all
changes are made, the application can send a SAVE command to store parameters in
non volatile memory inside the AHRS.

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4 GENERAL SYSTEM CONFIGURATION

4.1 Save to EEPROM

To save all parameters into EEPROM:

Message $PHSAV,,*5C<CR><LF>
Title Save Configuration to EEPROM

4.2 Software System Reboot

To reboot the system by software:

Message $PHST_,RESET,,*39<CR><LF>
Title Restart AHRS algorithm

Warning
Unit will restart with the configuration saved into PROM. It is recommended to perform a
save to PROM command (see section 4.1) before resetting if you changed the settings
and want to keep them.

4.3 Web MMI Passwords Reset

To reset Web MMI passwords, following command can be used:

Message $PIXSE,CONFIG,PWDRST*4B<CR><LF>
Title Reset Web-based User Interface Passwords

There is no password any more once this command is used.

4.4 Manual Position and Speeds

To enter manual position and speed:

Message $PHMAN,x.x,y.y*hh<CR><LF>
Title Manual Position
Data Field Semantics Unit Type
x.x Latitude, positive north Degree Float
y.y Speed knots Float
To retrieve current manual position and speed:
$PHMAN,,*5A<CR><LF>

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4.5 Axis Orientation

To enter an axis orientation (rough misalignment):

Message $PHORI,i*hh<CR><LF>
Title Axis Orientation
Data Field Semantics Syntax Type
i Index of the rough misalignment See int
Table 2 for index/orientation
correspondence and checksums
To retrieve the axis orientation – also called the rough misalignment –:
$PHORI,,*4C<CR><LF>

Important

Please: check logo and connector positions in the following table.

Table 2 - Matching between index i and AHRS axis orientation with associated checksum (hh)

i (hh) Orientation (Surface) Orientation (Subsea) i (hh) Orientation (Surface) Orientation (Subsea)

0 1

(50) (51)

2 3

(52) (53)

4 5

(54) (55)

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i (hh) Orientation (Surface) Orientation (Subsea) i (hh) Orientation (Surface) Orientation (Subsea)

6 7

(56) (57)

8 9

(58) (59)

10 11

(61) (60)

12 13

(63) (62)

14 15

(65) (64)

16 17

(67) (66)

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i (hh) Orientation (Surface) Orientation (Subsea) i (hh) Orientation (Surface) Orientation (Subsea)

18 19

(69) (68)

20 21

(62) (63)

22 23

(60) (61)

4.6 Heading, Roll and Pitch angular offsets

To configure user angular offsets (fine misalignment):

Message $PHBIA,x.x,y.y,z.z*hh<CR><LF>
Title Angular offsets Configuration
Data Field Semantics Unit Type
x.x Vehicle X1 rotation offset Degree Float
y.y Vehicle X2 rotation offset Degree Float
z.z Vehicle X3 rotation offset Degree Float
To retrieve the angular offsets:
$PHBIA,,*52<CR><LF>

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4.7 Main Lever Arm

To configure main monitoring point lever arm from the AHRS:

Message $PHLEV,x.x,y.y,z.z*hh<CR><LF>
Title Lever Arms Configuration
Data Field Semantics Unit Type
x.x XV1 lever arm m Float
y.y XV2 lever arm m Float
z.z XV3 lever arm m Float
To retrieve main monitoring point lever arms from the AHRS:
$PHLEV,,*47<CR><LF>

4.8 Secondary Lever Arms

To configure secondary monitoring point lever arms from the AHRS:

Message $PHLVx,x.x,y.y,z.z*hh<CR><LF>
Title Lever Arms Configuration
Data Field Semantics Unit Type
x Lever arm (‘A’, ‘B’ or ‘C’) N/A Char
x.x XV1 lever arm m Float
y.y XV2 lever arm m Float
z.z XV3 lever arm m Float
To retrieve secondary monitoring point lever arms from the AHRS:
$PHLVA,,*43<CR><LF>
$PHLVB,,*40<CR><LF>
$PHLVC,,*41<CR><LF>

4.9 Center of Gravity Position

This is not available for OCTANS NANO product.

To configure center of gravity position relative to the AHRS:

Message $PHCNF,COG___,x.x,y.y,z.z*hh<CR><LF>
Title Lever Arms Configuration
Data Field Semantics Unit Type
x.x XV1 cog m Float
y.y XV2 cog m Float
z.z XV3 cog m Float
(please note the 3 underscore(’’_’’) characters after COG header)
To retrieve center of gravity from the AHRS:
$PHCNF,COG___,,*6B<CR><LF>

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4.10 Heave Parameters

This is not available for OCTANS NANO product.

To define the sea state:

Message $PHCNF,HVECNF_,i*hh<CR><LF>
Title Heave Parameters
Data Field Semantics Syntax Type
0: Slight Sea (<1.2m)
1: Moderate Sea (<2.5m)
i Index int
2: Rough Sea (>2.5m)
3: Harbors and Channels
To retrieve the current sea state mode:
$PHCNF,HVECNF,,*30<CR><LF>

4.11 UTC (Time Synchronization) Interface

To configure the UTC interface (OCTANS interface to receive data from UTC) :

Message $PHCNF,UTCINT,i,j*hh<CR><LF>
Title UTC Interface
Data Field Semantics Syntax Type
0: None
1: Port A
i Interface 2: Port B int
…
5 : Port E
j (Deprecated) 0 int

To retrieve the UTC interface:

$PHCNF,UTCINT,,*6E<CR><LF>

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5 INTERFACES CONFIGURATION

This section describes commands to configure serial or Ethernet ports.

5.1 Port mapping and ID

The ports mapping from software port identification to physical port identification may
differ for certain product:
• For OCTANS surface, to configure the physical serial input ports A and B use
configuration commands with respectively ports D and E instead.
• For OCTANS surface, to configure the physical ethernet input ports A to D use
configuration commands with respectively ports D to G instead.
• For OCTANS 3000 and OCTANS NANO, to configure an input port use the
related port ID: A up to E.
• For all products, to configure output ports use the physical port ID.

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5.2 Serial and Ethernet Commands

5.2.1 SERIAL I/O GENERAL PARAMETERS (PARITY, STOP BIT, LEVEL, BAUDRATE)

Used to configure the parity and stop bit for serial port X :

Message $PHCNF,RSCM_X,i,j,k,l*hh<CR><LF>

Title Serial interface configuration

Data Field Semantics Syntax Type
OCTANS:
set A to C to configure output ports A to C
set D to G to configure input ports A to E.
X Port int
For more explanation, refer to § 5.1.
OCTANS 3000: set A to E to configure Input/Output ports A to E
OCTANS NANO: set A to B to configure Input/Output ports A to B
0: None
i Parity 1: Even int
2: Odd
0: 0.5 stop bit
Number 1: 1 stop bit
j int
of stop bits 2: 1.5 stop bit
3: 2 stop bits
0: RS232
k Level int
1: RS422
0: 600bds
1: 1200bds
2: 2400bds
3: 4800bds
4: 9600bds
l Baudrate 5: 19200bds int
6: 38400bds
7: 57600bds
8:115200bds
9: 230400bds
10: 460800bds

To retrieve parity and stop bit for serial port X (checksum hh depends on port X, see
below) :
$PHCNF,RSCM_A,,*6E<CR><LF>
$PHCNF,RSCM_B,,*6D<CR><LF>
$PHCNF,RSCM_C,,*6C<CR><LF>
$PHCNF,RSCM_D,,*6B<CR><LF>
$PHCNF,RSCM_E,,*6A<CR><LF>

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5.2.2 SERIAL/ETHERNET INPUT PORT CONFIGURATION

To configure the input port x:

Message $PHCNF,RSIN_x,i,j*hh<CR><LF>
Title Input port configuration
Data Field Semantics Syntax Type
(Uppercase)
OCTANS : set D to G to configure ports A to D.
x Port For more explanation, refer to § 5.1. char
OCTANS 3000 : set A to E to configure Port A to Port E
OCTANS NANO: set A to D to configure Port A to Port D
i protocol See Table 3 int
j RFU Set this field to 0 int

The RSIN command must be used to select input protocol in Ethernet mode too.

To retrieve configuration of serial input port:

$PHCNF,RSIN_D,,*62<CR><LF>
$PHCNF,RSIN_E,,*63<CR><LF>
$PHCNF,RSIN_F,,*60<CR><LF>
$PHCNF,RSIN_G,,*61<CR><LF>

Table 3 - List and index of input protocols

OCTANS CINT firmware =< 4.00 OCTANS CINT Firmware > 4.00 OCTANS NANO
Index Protocol Index Protocol Index Protocol
0 NONE 0 NONE 0 NONE
1 DCN_LOCH 1 DCN_LOCH 1 STANDARD NMEA
2 DCN_NAV1 2 DCN_NAV1
3 GPS_GGA 3 STANDARD NMEA
4 GPS_VTG
5 GPS_GGA-VTG-ZDA
6 GPS_GLL-VHW
7 GPS_ZDA
8 AMS
9 ISRGVT
10 GPS_GGA-VTG-UTC
11 ALERT_IN

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5.2.3 USER DEFINED OUTPUT PROTOCOL

To configure the output port x user defined protocol:

Message $PHCN,RSUDPx,ssss*hh<CR><LF>
Title Output port configuration
Data Field Semantics Syntax Type
(Uppercase)
OCTANS: set A to C to configure Port A to Port C
x Port char
OCTANS 3000: set A to E to configure Port A to Port E
OCTANS NANO: set A to E to configure Port A to Port E
ssss protocol User defined protocol string string

5.2.4 SERIAL/ETHERNET OUTPUT PORT CONFIGURATION

To configure the serial/Ethernet output on port:

Message $PHCNF,RSOUTx,i,j,k,l,m*hh<CR><LF>
Title Output port configuration
Data Field Semantics Syntax Type
(Uppercase)
OCTANS: set A to C to configure Port A to Port C
x Port char
OCTANS 3000: set A to E to configure Port A to Port E
OCTANS NANO: set A to E to configure Port A to Port E
See $PHCNF,RSOUTA,,*71<CR><LF>
$PHCNF,RSOUTB,,*72<CR><LF>
$PHCNF,RSOUTC,,*73<CR><LF>
i Protocol $PHCNF,RSOUTD,,*74<CR><LF> int
$PHCNF,RSOUTE,,*75<CR><LF>
Table 4
0: Main lever arm
1: Secondary lever arm 1
j Lever arm int
2: Secondary lever arm 2
3: Secondary lever arm 3
Output rate in ms (100 = 100ms = 10 Hz)
k Rate int
Minimum value is 5 ms (200 Hz)
0: Real Time Heave
l Heave 1: Smart Heave (100s delayed) int
For OCTANS NANO set to 0
0: ZDA not outputted
m ZDA output int
1: ZDA outputted

To retrieve configuration of serial output port:

$PHCNF,RSOUTA,,*71<CR><LF>
$PHCNF,RSOUTB,,*72<CR><LF>
$PHCNF,RSOUTC,,*73<CR><LF>
$PHCNF,RSOUTD,,*74<CR><LF>
$PHCNF,RSOUTE,,*75<CR><LF>
Table 4 - list and index of output protocols

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Index OCTANS 3000 OCTANS OCTANS NANO

0 NONE NONE NONE
1 OCTANS STANDARD OCTANS STANDARD OCTANS STANDARD
2 USER DEFINED POST PROCESSING POST PROCESSING
3 DCN_NAV1 USER DEFINED USER DEFINED
4 DCN_NAV10 DCN_NAV1 AMS
5 AMS DCN_NAV10 BA_CUSTOM1
6 ATLAS_F20 AMS BA_CUSTOM2
7 FMA ATLAS_F20 DOLOG_HRP
8 ISRGVT FMA GYROCOMPAS1
9 HEHDT ISRGVT HEHDT
10 HEHDTFIXED HEHDT HEHDT_FIXED
11 BA_CUSTOM1 HEHDTFIXED HEHDT_HEROT
12 BA_CUSTOM2 HEHDT_HEROT HETHS_HEROT
13 GYROCOMPAS1 HETHS_HEROT ISRGVT=IG03
14 GYROCOMPAS2 BA_CUSTOM1 TECHSAS
15 MOTION_SENSOR1 BA_CUSTOM2 PTNTHPR
16 MOTION_SENSOR2 GYROCOMPAS1 BROADCAST_A
17 MOTION_SENSOR3 GYROCOMPAS2 BROADCAST_B
18 MOTION_SENSOR4 MOTION_SENSOR1 BROADCAST_C
19 IXSEA_GYRO MOTION_SENSOR2 BROADCAST_D
20 HEAVE_POSTPROCESS MOTION_SENSOR3 TMS_CCVIMBAT_AHRS
21 SHINKAI_6500 MOTION_SENSOR4 IXSEA TAH
22 DOLOG IXSEA_GYRO IXBLUE STD BIN
23 ICCB1 HEAVE_POSTPROCESS
24 POSMV_GRP111 SHINKAI_6500
25 SEATEX_DHEAVE DOLOG
26 TUS ICCB1
27 IMU_RAW POSMV_GRP111
28 IMU_BIN SEATEX_DHEAVE
29 HEHDT_HEROT TUS
30 TECHSAS IMU_RAW
31 TAH_BIN IMU_BIN
32 MAHRS TECHSAS
33 AHRS120 TAH_BIN
34 MAHRS
35 AHRS120
36 PAHRS
37 BROADCAST_A
38 BROADCAST_B
39 BROADCAST_C
40 BROADCAST_D
41 IXBLUE_STD_BIN
42 PSXN_019
43 TMSCCVIMBAT AHRS
44 SEAPATH

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5.2.5 OUTPUT DEVICE SELECTION

To select the device that will be used for data output on selected port:

Message $PHCNF,EDIROx,i*hh<CR><LF>
Title Output device selection
Data Field Semantics Syntax Type
(Uppercase)
OCTANS: set A to C to configure Port A to Port C
x Port char
OCTANS 3000: set A to E to configure Port A to Port E
OCTANS NANO: set A to E to configure Port A to Port E
0: No device selected
1: Serial output on selected port
i Device int
2: Ethernet output on selected port
3: Ethernet and serial output on selected port
To retrieve network configuration:
$PHCNF,EDIROA,,*6B<CR><LF>
$PHCNF,EDIROB,,*68<CR><LF>
$PHCNF,EDIROC,,*69<CR><LF>
$PHCNF,EDIROB,,*6E<CR><LF>
$PHCNF,EDIROC,,*6F<CR><LF>

5.2.6 INPUT DEVICE SELECTION

To select the device that will be used for data input on selected port:

Message $PHCNF,EDIRIx,i*hh<CR><LF>
Title Input device selection
Data Field Semantics Syntax Type
(Uppercase)
OCTANS: set D to G to configure Port A to Port D
x Port For more explanation, refer to § 5.1. char
OCTANS 3000: set A to E to configure Port A to Port E
OCTANS NANO: set A to D to configure Port A to Port D
0: No device selected
i Device 1: Serial input on selected port int
2: Ethernet input on selected port
To retrieve network configuration on port:
$PHCNF,EDIRIA,,*6D<CR><LF>
$PHCNF,EDIRIB,,*6E<CR><LF>
$PHCNF,EDIRIC,,*6F<CR><LF>
$PHCNF,EDIRID,,*68<CR><LF>
$PHCNF,EDIRIE,,*69<CR><LF>

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5.3 Ethernet Configuration

5.3.1 NETWORK SETUP COMMAND

Use this command to configure Ethernet network settings. These settings will be effective
after next reboot only.

Message $PHCNF,ETHIP,D,I,N[,G][,H]*hh<CR><LF>
Title Ethernet configuration
Data Field Semantics Syntax Type
D DHCP 0: disable DHCP at boot time, 1: enable DHCP Int
I IP address System IP address (ex: 192.168.36.100) IP address
N Netmask Network mask (ex: 255.255.255.0) IP address
G Gateway Gateway (ex: 192.168.36.254) IP address
H DNS DNS (ex: 192.168.36.1) IP address
P GPS IP Embedded GPS IP address IP address

To retrieve network configuration:

$PHCNF,ETHIP,,*3F<CR><LF>

5.3.2 IP OUTPUT CONFIGURATION

To configure the IP output settings on selected port:

Message $PHCNF,ELCFOx,m,i,p*hh<CR><LF>
Title IP output settings
Data Field Semantics Syntax Type
(Uppercase)
OCTANS: set A to C to configure Port A to Port C
x Port char
OCTANS 3000: set A to E to configure Port A to Port E
OCTANS NANO: set A to E to configure Port A to Port E
IP output mode:
0: TCP server
1: TCP client
m Mode int
2: UDP point to point
3: UDP broadcast
4: UDP multicast
IP address to connect to. This field is ignored in TCP
i Destination IP IP address
server and UDP broadcast modes.
p IP Port Port to connect/listen to int
To retrieve IP output settings on port x, use the following command:
$PHCNF,ELCFOA,,*7D<CR><LF>
$PHCNF,ELCFOB,,*7E<CR><LF>
$PHCNF,ELCFOC,,*7F<CR><LF>
$PHCNF,ELCFOD,,*78<CR><LF>
$PHCNF,ELCFOE,,*79<CR><LF>

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5.3.3 IP INPUT CONFIGURATION

To configure the IP input settings on selected port:

Message $PHCNF,ELCFIx,m,i,p*hh<CR><LF>
Title IP input settings
Data Field Semantics Syntax Type
(Uppercase)
OCTANS:
set D to configure the Port A
x Port set E to configure the Port B. char
For more explanation, refer to § 5.1.
OCTANS 3000: set A to E to configure Port A to Port E
OCTANS NANO: set A to D to configure Port A to Port D
IP input mode:
0: TCP server
1: TCP client
m Mode int
2: UDP point to point
3: UDP broadcast
4: UDP multicast
Destination IP address to connect to. This field is ignored in TCP server and IP
i
IP UDP broadcast modes. address
p IP Port Port to connect/listen to int

To retrieve IP input settings on port X, use following command:

$PHCNF,ELCFIA,,*7B<CR><LF>
$PHCNF,ELCFIB,,*78<CR><LF>
$PHCNF,ELCFIC,,*79<CR><LF>
$PHCNF,ELCFID,,*7E<CR><LF>
$PHCNF,ELCFIE,,*7F<CR><LF>

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5.4 Pulses Interfaces

5.4.1 INPUT PULSES
To configure pulse input x:

Message $PHCNF,PULSINx,i,x.x*hh<CR><LF>
Title Pulse Input
Data Field Semantics Syntax Type
(Uppercase)
OCTANS: set A to D to configure Port A to Port D
x Port char
OCTANS 3000: set A to C to configure Port A to Port C
OCTANS NANO: set A to configure Port A
0: None
1: PPS Rising + Time
2: PPS Falling + Time
3: Time + PPS Rising
4: Time + PPS Falling
5: Output A Synchro
i Protocol 6: Output B Synchro int
7: Output C Synchro
8: Output D Synchro
9: Output E Synchro
10 to 13: Reserved
14: Log
15: Odo
x.x RFU Set this field to 0.0 Float

To retrieve configuration of pulse input on port x (checksum hh depends on port x)::

$PHCNF,PULSINx,,*hh<CR><LF>
5.4.2 OUTPUT PULSES

To configure pulse output x:

Message $PHCNF,PULSOx,i,x.x*hh<CR><LF>
Title Output Pulses
Data Field Semantics Syntax Type
OCTANS/OCTANS 3000: set A or B to configure Port A or Port B
x Port char
OCTANS NANO: None
0 : None
1: SerOutput A RTC
i Protocol int
2: SerOutput B RTC
3 SerOutput C RTC
x.x RFU Set this field to 0.0 Float
Note: the protocol parameter is only used on factory protocols for now (heading, roll, pitch
trigger). When not used, this parameter can be set to 0.0.
To retrieve configuration of pulse output X:
$PHCNF,PULSOA,,*6B<CR><LF>
$PHCNF,PULSOB,,*68<CR><LF>

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6 DYNAMIC STRING RETRIEVE COMMANDS

This section describes commands to retrieve all configuration strings to dynamically get
firmware feature list.

6.1 Generic Text Retrieve Command

To retrieve a specific text for a command:

Message $PHTXT,list,c,i,j*hh<CR><LF>
Title Text list retrieve
Data Field Semantics Syntax Type
list List name Name of command associated to the list string
c Language Only English ‘E’ is supported char
i Section index Index of list to retrieve for this command int
j String index Index of string in the list int
Example:
To retrieve first serial output protocol name, you should send:
$PHTXT,RSOUTX,E,1,0*13<CR><LF>
The AHRS will then answer:
$PHTXT,RSOUTX,1,0,NONE*5C<CR><LF>
When no string is available, the AHRS returns “________________” (16 x ‘_’ character).
Thus, to retrieve all available output protocol names, you should send
$PHTXT,RSOUTX command and increment string index until the firmware answers no
string available.
Following table details all string retrieve functions and their parameters:

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Table 5 - List name table

List name Section index Retrieved list description

RSOUTX 0 Port output baud rate
1 Port output protocol names
2 Reserved
3 Port output level names
RSCM_X 0 Port input/output parity
1 Port input/output stop bits
2 Lever arm
RSIN_X 0 Port input/output baud rate
1 Port input protocol names
PPSIN_ 0 PPS input pulse protocols
SYNCIN 0 Synchro input pulse 1 protocols
PULSIA 0 Synchro input pulse 2 protocols
PULSIB 0 Log input pulse protocols
PULSOX 0 Output pulses protocols
EDIRIX 0 Input devices names
EDIROX 0 Output devices names
ELCFIX 0 Input Ethernet transport layer
ELCFOX 0 Output Ethernet transport layer
STASOR 0 AHRS Sensor status word bit names and attributes
STASYS 0 AHRS System status word bit names and attributes
STAALG 0 AHRS Algorithm status bit names and attributes
PHINF_ 0 AHRS User Status
STA_HL 0 AHRS High Level Status names and attributes
UTCINT 0 UTC interface names
GPSINT 0 GPS sensor interface names
HVEMOD 0 HEAVE sea levels
SERNUM 0 AHRS Serial number
LOADCI 0 AHRS CINT loader version
VERSIOCI 0 AHRS CINT firmware version
LOADER 0 AHRS DSP4 loader version
VERSIO 0 AHRS DSP4 firmware version
EQP__ 0 AHRS type name

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Appendices

A NMEA CHECKSUM WEB PAGE

To get a simple NMEA computation tool, copy following code into a new file (nmea.html)
and save it, and open this file with your internet navigator:

<html><head><title>NMEA MTK checksum calculator</title>

<script><!--
function updateChecksum(cmd)
{
var checksum = 0;
for(var i = 0; i < cmd.length; i++) checksum = checksum ^ cmd.charCodeAt(i);

var hexsum = Number(checksum).toString(16).toUpperCase();

if (hexsum.length < 2) hexsum = ("00" + hexsum).slice(-2);
settext(document.getElementById("output"), "$" + cmd + "*" + hexsum);
}

function settext(span, text)

{
if (!span.hasChildNodes()) {
span.appendChild(span.ownerDocument.createTextNode(text));
return;
} else span.firstChild.nodeValue = text;
}

--></script></head><body>
<h1>MTK NMEA checksum calculator</h1>
<p>This is a simple calculator to compute the checksum field of NMEA frames.</p>
<p> The checksum is simple, just an XOR of all the bytes between the
<tt>$</tt> and the <tt>*</tt> (not including the delimiters themselves), and written in
hexadecimal.</p>
<p>For this to work you'll need to be using a browser that supports JavaScript and DHTML
(most modern browsers do).</p>
<div style="margin:1em; padding: 2em; background: #ddddff;">
<form onsubmit="document.getElementById('commandfld').select(); return false;">
<table>
<tr><th align=right>Command:</th><td><tt>$<input id="commandfld" size=80 type="text"
onchange="updateChecksum(this.value);"
value="PIXSE,CONFIG,WAKEUP">*</tt></td></tr>
<tr><th align=right>With checksum:</th><td><span id="output" style="font-family:
monospace;"></span></td></tr>
</table></form></div>
<script>updateChecksum(document.getElementById("commandfld").value);</script>
<hr></body></html>

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B ORIENTATION AND SIGN CONVENTIONS RECALL

This page recaps orientation conventions for lever arms and misalignments.
Please refer to OCTANS user manuals for more details on frame transfer conventions.

Axis direction and sign conventions for lever arms:

Port

XV2

Stern Bow
XV3 XV1

Starboard

• XV1 lever arm is counted positive in direction of vehicle bow and negative in direction
of vehicle stern.
• XV2 lever arm is counted positive in direction of port side and negative in direction of
starboard side.
• XV3 lever arm is counter positive upward, negative downward.

Misalignments conventions:

Roll misalignment angle Pitch misalignment angle Heading misalignment angle

XV3 XV3 XV1

X1
X1 +mH

XV2 +mP

+mR XV1 XV2

X2

The above figures are an example to recap how can be estimated the sign of the angular
offsets.
Note: the roll misalignment is positive from X2 in direction to XV2, where pitch and
heading misalignments are positive from XV1 to X1.

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C FACTORY SETTING DETAILS

This page details factory default settings:

• DSP settings:
 System orientation is set to 0.
 All system and sensors lever arms and misalignments are set to 0
 Heave filter is set to ‘Moderate Sea’
 Manual position is set to 48.87°N latitude, 2°E longitude, 0m altitude

• MPC settings:
 All input and output port protocols are set to ‘NONE’, on primary lever arm
 All output port protocols rate are set to 0Hz
 Ethernet output ports are set from 8111 to 8115 for port A to E
 Ethernet input ports are set from 8117 to 8121 for port A to E
 Ethernet input and output target IP is set to 192.168.36.102 and mode is set to
”TCP server”
 Serial settings for all ports are set to 9600 bps, none, 1 stop bit in RS232
 UTC interface is set to ‘0’ (disabled)
 All pulse in and out protocols are disabled (set to ‘0’)

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