Location Library for Open AT

Framework AT Commands

Interface Guide

4112808
Rev. 1.0
October 1, 2013
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Framework AT Commands Introduction

Important Notice
Due to the nature of wireless communications, transmission and reception of data can never be
guaranteed. Data may be delayed, corrupted (i.e., have errors) or be totally lost. Although significant
delays or losses of data are rare when wireless devices such as the Sierra Wireless modem are used
in a normal manner with a well-constructed network, the Sierra Wireless modem should not be used
in situations where failure to transmit or receive data could result in damage of any kind to the user or
any other party, including but not limited to personal injury, death, or loss of property. Sierra Wireless
accepts no responsibility for damages of any kind resulting from delays or errors in data transmitted or
received using the Sierra Wireless modem, or for failure of the Sierra Wireless modem to transmit or
receive such data.

Safety and Hazards

Do not operate the Sierra Wireless modem in areas where cellular modems are not advised without
proper device certifications. These areas include environments where cellular radio can interfere such
as explosive atmospheres, medical equipment, or any other equipment which may be susceptible to
any form of radio interference. The Sierra Wireless modem can transmit signals that could interfere
with this equipment. Do not operate the Sierra Wireless modem in any aircraft, whether the aircraft is
on the ground or in flight. In aircraft, the Sierra Wireless modem MUST BE POWERED OFF. When
operating, the Sierra Wireless modem can transmit signals that could interfere with various onboard
systems.
Note: Some airlines may permit the use of cellular phones while the aircraft is on the ground and the door
is open. Sierra Wireless modems may be used at this time.

The driver or operator of any vehicle should not operate the Sierra Wireless modem while in control of
a vehicle. Doing so will detract from the driver or operator‟s control and operation of that vehicle. In
some states and provinces, operating such communications devices while in control of a vehicle is an
offence.

Limitations of Liability
This manual is provided “as is”. Sierra Wireless makes no warranties of any kind, either expressed or
implied, including any implied warranties of merchantability, fitness for a particular purpose, or
noninfringement. The recipient of the manual shall endorse all risks arising from its use.
The information in this manual is subject to change without notice and does not represent a
commitment on the part of Sierra Wireless. SIERRA WIRELESS AND ITS AFFILIATES
SPECIFICALLY DISCLAIM LIABILITY FOR ANY AND ALL DIRECT, INDIRECT, SPECIAL,
GENERAL, INCIDENTAL, CONSEQUENTIAL, PUNITIVE OR EXEMPLARY DAMAGES INCLUDING,
BUT NOT LIMITED TO, LOSS OF PROFITS OR REVENUE OR ANTICIPATED PROFITS OR
REVENUE ARISING OUT OF THE USE OR INABILITY TO USE ANY SIERRA WIRELESS
PRODUCT, EVEN IF SIERRA WIRELESS AND/OR ITS AFFILIATES HAS BEEN ADVISED OF THE
POSSIBILITY OF SUCH DAMAGES OR THEY ARE FORESEEABLE OR FOR CLAIMS BY ANY
THIRD PARTY.
Notwithstanding the foregoing, in no event shall Sierra Wireless and/or its affiliates aggregate liability
arising under or in connection with the Sierra Wireless product, regardless of the number of events,
occurrences, or claims giving rise to liability, be in excess of the price paid by the purchaser for the
Sierra Wireless product.
Customer understands that Sierra Wireless is not providing cellular or GPS (including A-GPS)
services. These services are provided by a third party and should be purchased directly by the
Customer.

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SPECIFIC DISCLAIMERS OF LIABILITY: CUSTOMER RECOGNIZES AND ACKNOWLEDGES

SIERRA WIRELESS IS NOT RESPONSIBLE FOR AND SHALL NOT BE HELD LIABLE FOR ANY
DEFECT OR DEFICIENCY OF ANY KIND OF CELLULAR OR GPS (INCLUDING A-GPS)
SERVICES.

Patents
This product may contain technology developed by or for Sierra Wireless Inc.
This product includes technology licensed from QUALCOMM®.
This product is manufactured or sold by Sierra Wireless Inc. or its affiliates under one or more patents
licensed from InterDigital Group and MMP Portfolio Licensing.

Copyright
© 2013 Sierra Wireless. All rights reserved.

Trademarks
Sierra Wireless®, AirPrime®, AirLink®, AirVantage®, WISMO® and the Sierra Wireless and Open AT
logos are registered trademarks of Sierra Wireless, Inc. or one of its subsidiaries.
Watcher® is a registered trademark of Netgear, Inc., used under license.
Windows® and Windows Vista® are registered trademarks of Microsoft Corporation.
Macintosh® and Mac OS X® are registered trademarks of Apple Inc., registered in the U.S. and other
countries.
QUALCOMM® is a registered trademark of QUALCOMM Incorporated. Used under license.
Other trademarks are the property of their respective owners.

Contact Information
Phone: 1-604-232-1488
Sales Desk: Hours: 8:00 AM to 5:00 PM Pacific Time
Contact: http://www.sierrawireless.com/sales
Sierra Wireless
13811 Wireless Way
Post:
Richmond, BC
Canada V6V 3A4
Technical Support: [email protected]
RMA Support: [email protected]
Fax: 1-604-231-1109
Web: http://www.sierrawireless.com/

Consult our website for up-to-date product descriptions, documentation, application notes, firmware
upgrades, troubleshooting tips, and press releases: www.sierrawireless.com

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Document History
Version Date Updates

New document branch created from previous publication, Document

Reference Number 4110991, Revision 10.1. The following updates were
made to the content of that document to start this new branch:
 SiRFV GPS Solution added.
 gpsOne GPS Solution added and updated for SL3010T module.
 DEE validity asynchronous event updated for timestamp format.
 Documentation corrected:
 GPS_ERR_CORE_SW_INIT replaced by GPS_ERR_CORE_INIT.
 GPS_ERR_CORE_SW replaced by GPS_ERR_CORE_LIB.
 UART 3 added for +GPSNMEA, +GPSCORE, +GPSPVT and
+GPSDEBUG AT Commands.
1.0 October 1, 2013  +GPSDEBUG parameters become mandatory.
 New parameters added to +GPSNMEA AT command to support GL
and GNSS identifier.
 “GNSS” NMEA Sentence added.
 DEE SNTP and Data Server Address configuration added to
+GPSAID AT command.
 Parameter <ext_error> added to Asynchronous Events description.
+GPSEVERROR event updated.
 Test Mode configuration added to +GPSDEBUG AT command.
 GLONASS jamming event for +GPSCORE AT command added.
 Restriction for “CW Removal configuration” option changed.
 New error code GPS_ERR_TIMEOUT (-27).

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 Contents
CONTENTS ............................................................................................................... 5
1. INTRODUCTION .................................................................................................. 9
1.1. Overview............................................................................................................................9
1.2. Related Documents ...........................................................................................................9
1.3. Abbreviations .....................................................................................................................9
1.4. Glossary ..........................................................................................................................10
1.4.1. Embedded Module ...................................................................................................10
1.4.2. GPS Solution ............................................................................................................10
1.4.3. NMEA sentences .....................................................................................................11
1.4.4. WGS 84 ....................................................................................................................11

2. USER GUIDE ..................................................................................................... 12

2.1. Restriction of Use ............................................................................................................12
2.2. Features Description .......................................................................................................12
2.3. AT Command Applicability ..............................................................................................12
2.4. AT command sequence to start Location Services .........................................................14
2.4.1. Factory default configuration ....................................................................................14
2.4.2. AT command sequence ...........................................................................................15
2.4.3. Example of start sequence.......................................................................................15
2.5. Location Services LED ....................................................................................................18
2.6. GPS receiver capabilities and restrictions .......................................................................18
2.6.1. Supported NMEA sentences ....................................................................................18
2.6.2. Description of Proprietary NMEA sentences............................................................19
2.6.3. XM0110 capabilities and restrictions .......................................................................20
2.6.4. gpsOne capabilities and restrictions ........................................................................22
2.6.5. SiRFV capabilities and restrictions ..........................................................................23

3. LOCATION SERVICES STATES ....................................................................... 26

3.1. State Machine..................................................................................................................26
3.2. AT Commands Calls Requirements ................................................................................26

4. AT COMMAND SYNTAX ................................................................................... 28

4.1. Command Line ................................................................................................................28
4.2. Information Responses and Result Codes ......................................................................28

5. AT COMMANDS REFERENCE.......................................................................... 29
5.1. Command +GPSHELP ....................................................................................................29
5.1.1. Description ...............................................................................................................29
5.1.2. Syntax ......................................................................................................................29
5.1.3. Parameters and Defined Values ..............................................................................29
5.1.4. Examples..................................................................................................................29
5.2. Command +GPSNMEA ...................................................................................................30

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5.2.1. Description ...............................................................................................................30

5.2.2. Syntax ......................................................................................................................30
5.2.3. Parameters and Defined Values ..............................................................................31
5.2.4. Examples..................................................................................................................33
5.3. Command +GPSPVT ......................................................................................................34
5.3.1. Description ...............................................................................................................34
5.3.2. Syntax ......................................................................................................................35
5.3.3. Parameters and Defined Values ..............................................................................35
5.3.4. Examples..................................................................................................................37
5.3.5. Example of AT command sequence ........................................................................38
5.4. Command +GPSSAVE....................................................................................................39
5.4.1. Description ...............................................................................................................39
5.4.2. Syntax ......................................................................................................................39
5.4.3. Parameters and Defined Values ..............................................................................39
5.4.4. Examples..................................................................................................................40
5.4.5. Diagram for settings management ...........................................................................40
5.5. Command +GPSSTART .................................................................................................41
5.5.1. Description ...............................................................................................................41
5.5.2. Syntax ......................................................................................................................41
5.5.3. Parameters and Defined Values ..............................................................................42
5.5.4. Examples..................................................................................................................43

6. ADVANCED AT COMMANDS REFERENCE .................................................... 44

6.1. Command +GPSSTATE..................................................................................................44
6.1.1. Description ...............................................................................................................44
6.1.2. Syntax ......................................................................................................................44
6.1.3. Parameters and Defined Values ..............................................................................44
6.1.4. Examples..................................................................................................................45
6.2. Command +GPSINIT ......................................................................................................45
6.2.1. Description ...............................................................................................................45
6.2.2. Syntax ......................................................................................................................45
6.2.3. Parameters and Defined Values ..............................................................................46
6.2.4. Examples..................................................................................................................48
6.2.5. Hardware Configuration ...........................................................................................49
6.3. Command +GPSSTOP ...................................................................................................50
6.3.1. Description ...............................................................................................................50
6.3.2. Syntax ......................................................................................................................51
6.3.3. Parameters and Defined Values ..............................................................................51
6.3.4. Examples..................................................................................................................51
6.4. Command +GPSSLEEP..................................................................................................51
6.4.1. Description ...............................................................................................................51
6.4.2. Syntax ......................................................................................................................52
6.4.3. Parameters and Defined Values ..............................................................................52
6.4.4. Examples..................................................................................................................53
6.5. Command +GPSTTFF ....................................................................................................53
6.5.1. Description ...............................................................................................................53

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6.5.2. Syntax ......................................................................................................................53

6.5.3. Parameters and Defined Values ..............................................................................54
6.5.4. Examples..................................................................................................................54
6.6. Command +GPSRELEASE ............................................................................................54
6.6.1. Description ...............................................................................................................54
6.6.2. Syntax ......................................................................................................................55
6.6.3. Parameters and Defined Values ..............................................................................55
6.6.4. Examples..................................................................................................................55
6.7. Command +GPSVERS ...................................................................................................55
6.7.1. Description ...............................................................................................................55
6.7.2. Syntax ......................................................................................................................56
6.7.3. Parameters and Defined Values ..............................................................................56
6.7.4. Examples..................................................................................................................56
6.8. Command +GPSCONF ...................................................................................................56
6.8.1. Description ...............................................................................................................56
6.8.2. Syntax ......................................................................................................................57
6.8.3. Parameters and Defined Values ..............................................................................57
6.8.4. Location service configuration restrictions ...............................................................60
6.8.5. Examples..................................................................................................................61
6.9. Command +GPSDEBUG ................................................................................................62
6.9.1. Description ...............................................................................................................62
6.9.2. Syntax ......................................................................................................................62
6.9.3. Parameters and Defined Values ..............................................................................63
6.9.4. Examples..................................................................................................................64
6.10. Command +GPSAID .......................................................................................................64
6.10.1. Description of Aiding for XM0110 and SiRFV ..........................................................64
6.10.2. Description of Aiding for gpsOne .............................................................................65
6.10.3. Syntax ......................................................................................................................66
6.10.4. Parameters and Defined Values ..............................................................................67
6.10.5. Aiding Service Configuration Restrictions ................................................................71
6.10.6. Examples..................................................................................................................72
6.10.7. Examples of AT Command Sequence .....................................................................73
6.11. Command +GPSCORE ...................................................................................................75
6.11.1. Description ...............................................................................................................75
6.11.2. Syntax ......................................................................................................................76
6.11.3. Parameters and Defined Values ..............................................................................76
6.11.4. Examples..................................................................................................................77
6.11.5. Examples of AT Command Sequence .....................................................................78

7. ASYNCHRONOUS EVENTS .............................................................................. 79

7.1. Description.......................................................................................................................79
7.2. Syntax..............................................................................................................................79
7.3. Parameters and Defined Values .....................................................................................81

8. LOCATION AT COMMANDS ERROR CODES ................................................. 84

9. AIDING EVENT ERROR CODES ....................................................................... 85

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INDEX ...................................................................................................................... 86

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 1. Introduction
The following subsections present introductory information regarding the Location AT Commands.

1.1. Overview
This document provides Sierra Wireless customers with a full description of the AT Commands for
Location Services, available when using compatible GPS receiver in combination with an AirPrime
Intelligent Embedded Module.

1.2. Related Documents

[1] Open AT Framework AT Commands Interface Guide for Firmware
4111703
[2] XM0110 Low Power Modes Application Note
WM_DEV_XM0110_APN_001
[3] XM0110 GPS Aiding Application Note
WM_DEV_XM0110_APN_002
[4] Internet Application AT Commands User Guide
4111706
[5] Internet Library Connectivity Development Guide
4111705
[6] CW Jamming Application Note
CS-210066-AN-2
[7] Open AT Framework AT Commands Interface Guide for Firmware 7.50.A1 for AirPrime
SL808xT
Reference: 4112152
[8] AirPrime – SL808xT - Product Technical Specification & Customer Design Guidelines
Reference: 2400058
[9] DEE feature Application Note for SL3010T
Reference: 4112292

1.3. Abbreviations
Abbreviation Definition

CW Continuous Waveform
DR Dead Reckoning
ECEF Reference used in GNSS is called Earth-Centered, Earth-Fixed (ECEF)
GLONASS “Globalnaya Navigatsionnaya Sputnikovaya Sistema” or Global Navigation Satellite System
GNSS Global Navigation Satellite System

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Abbreviation Definition

GPIO General Purpose Input Output

GPS Global Positioning System
gpsOne Qualcomm gpsOne solution provided by Qualcomm built-in GPS engine.
HW Hardware
ID Identifier
IO Input/Output
KF Kalman Filter
LNA Low-Noise Amplifier
LSQ Least SQuare (approximation)
NMEA National Marine Electronics Association standard
NV Non-Volatile
PPS Pulse-Per-Second
PVT The primary GPS outputs: Position, Velocity, Time
QCT Qualcomm
SiRFIV SiRFstar® GSD4t™ GPS Receiver
SiRFV SiRFstar® GSD5t™ GNSS Receiver
SNTP Simple Network Time Protocol
TTFF Time To First Fix
UTC Coordinated Universal Time
XM0110 AirPrime XM0110 GPS module
XTRA gpsOneXTRA Assistance technology

1.4. Glossary

1.4.1. Embedded Module

Sierra Wireless‟ AirPrime Intelligent Embedded Module running OS, on which Location Library is
executed.

1.4.2. GPS Solution

1.4.2.1. AirPrime XM0110 GPS Module

Sierra Wireless GPS receiver compatible with the Location Library.
AirPrime XM0110 GPS module integrates SiRFstar® GSD4t™ GPS receiver.

1.4.2.2. SiRFstar GSD5t GNSS Receiver

SiRFstar® GSD5t™ GNSS receiver is integrated in AR6220-G Embedded Module and is compatible
with the Location Library.

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1.4.2.3. Qualcomm gpsOne

gpsOne is provided by Qualcomm built-in GPS engine. For example, gpsOne is supported by
SL808xT, Q2698 and SL3010T Embedded Modules.
For a better comprehension, any specific information concerning one product is written as follows:
gpsOne – [nameOfProduct].

1.4.3. NMEA sentences

The National Marine Electronics Association (NMEA) standard defines an electrical interface and data
protocol for communications between marine instrumentation. The NMEA-0183, scope of this
document, defines a set of frame prefixed by $GP and concerning Global Positioning System.
For more details about NMEA standards, please refer to http://www.nmea.org/.

1.4.4. WGS 84
The World Geodetic System is a standard for use in cartography, geodesy, and navigation. The latest
revision is WGS 84 (dating from 1984 and last revised in 2004).

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 2. User Guide
This section provides introduction and high level description of the Location Services features and AT
command set.

2.1. Restriction of Use

The use of the Location AT software described in this document is strictly limited to the use in
combination with the Sierra Wireless Embedded Module and compatible GPS Solutions. Use of this
software to operate or enable any other position-fix or location hardware is prohibited. Please contact
a Sierra Wireless representative in case of any question or concerns.

2.2. Features Description

The Location AT command set extends the AirPrime™ Intelligent Embedded Module command set to
allow users to:
 Control the Location feature and GPS receiver.
 Get the NMEA frames on a specified port (UART, USB or CMUX virtual port), configure the
NMEA rate and select the NMEA sentences.
 Get the PVT sentences on a specified port (UART, USB or CMUX virtual port), configure the
PVT rate and select the PVT sentences.
[] gspOne: PVT Service not supported.
 Be notified of the GPS fix events such as 3D fix obtained or fix lost
 Modify and save the default configuration, including default GPS receiver hardware
configuration if needed.
 Configure and control GPS receiver low power modes.
[] gspOne: Low power modes are not supported.
 Get the TTFF value.
 Configure and control Aiding modes.
 Retrieve more information on the Location Library, version and debug information.
In addition, Location Services allow driving several signals such as GPS status LED signal, antenna
supply enable signal, or PPS signal.

2.3. AT Command Applicability

The following table presents all AT commands, and which are applicable to each GPS Solution.
The table is marked with the indicators below.
: Fully supported.
: Partially supported or with specific behavior.
: Not supported.

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Description XM0110 gpsOne SiRFV

Control AT Commands

+GPSINIT AT command   

+GPSSTART AT command   

+GPSSTOP AT command   

+GPSRELEASE AT command   

+GPSSLEEP AT command   

+GPSSTATE AT command   

+GPSVERS AT command   

Core Configuration AT Commands

+GPSCONF AT command   

+GPSCORE AT command   

+GPSDEBUG AT command   

NMEA Service AT Command

+GPSNMEA AT command   

PVT Service AT Command

+GPSPVT AT command   
Aiding Service AT Command

+GPSAID AT command   

Advanced Information AT Command

+GPSTTFF AT command   

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2.4. AT command sequence to start Location

Services

2.4.1. Factory default configuration

2.4.1.1. XM0110 GPS Solution

The default configuration used by the application is:

Configuration Factory default value How to change it?

Hardware configuration <hw>=11, i.e.

Hardware XM0110 DevKit Daughter Board V2 HW settings for UART.
AT+GPSINIT command
configuration Please refer to the command +GPSINIT for more
information.
UART number 1
NMEA mode All supported NMEA frames are displayed AT+GPSNMEA command
1 second NMEA frames update
Starting Mode “HOT” start with all previous NV stored data. AT+GPSSTART command

To start the Location Services for the first time, if you don‟t use the default settings you must specify
your settings through the advanced AT commands described in this document.
For more information about factory default settings, please refer to +GPSSAVE AT command.

2.4.1.2. gpsOne GPS Solution

The default configuration used by the application is:

Configuration Factory default value How to change it?

Hardware type <hw>= 2, i.e. gpsOne GPS Solution.

Hardware type No Hardware configuration. AT+GPSINIT command
Also refer to the command +GPSINIT for more information.
UART number 1
NMEA mode All supported NMEA frames are displayed AT+GPSNMEA command
1 second NMEA frames update
Starting Mode “HOT” start with all previous NV stored data. AT+GPSSTART command

To start the Location Services for the first time, if you don‟t use the default settings you must specify
your settings through the advanced AT commands described in this document.
For more information about factory default settings, please refer to +GPSSAVE AT command.

2.4.1.3. SiRFV GNSS Solution

The default configuration used by the application is:

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Configuration Factory default value How to change it?

Hardware configuration <hw>=30, i.e. SiRFV GNSS Solution.

Hardware
Please refer to the command +GPSINIT for more AT+GPSINIT command
configuration
information.
UART number 1
NMEA mode All supported NMEA frames are displayed AT+GPSNMEA command
1 second NMEA frames update
Starting Mode “HOT” start with all previous NV stored data. AT+GPSSTART command

To start the Location Services for the first time, if you don‟t use the default settings you must specify
your settings through the advanced AT commands described in this document.
For more information about factory default settings, please refer to +GPSSAVE AT command.

2.4.2. AT command sequence

The AT command sequence to type to start receiving NMEA frames on the specified port is:
1. AT+WOPEN=1 (activate AT command extension set. Needed only the first time).
2. AT+GPSINIT=<hw> (only if the Factory default hardware configuration must be changed,
specifies the GPS receiver hardware type or the hardware configuration on which the
application will be run).
3. AT+GPSNMEA=<output> (only if the Factory default configuration should be changed, for
example AT+GPSNMEA=3 to request NMEA frames output on USB (3))
4. AT+GPSSTART (Starts the GPS).
After few seconds, NMEA frames will be received every second on the requested port.
You can then type AT+GPSSAVE=1 to save the current setting configured through AT commands
(+GPSINIT, +GPSSTART, +GPSNMEA…), and, make sure that the application automatically restarts
to reach the same state with same settings when the Embedded Module is reset.

2.4.3. Example of start sequence

2.4.3.1. Start sequence example for XM0110 default

configuration
That AT commands start sequence is applied to WMP/Q26/SL6087 + XM0110 Dev Kit Daughter
Board, for UART.
AT+GPSSTART

OK

+GPSEVINIT: 1

+GPSEVSTART: 1

+GPSEVPOS: 0
$GPGLL,0000.0000,N,00000.0000,E,150059.417,V,N

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$GPGGA,150059.417,0000.0000,N,00000.0000,E,0,00,0.0,0.0,M,0.0,M,,
$GPGSA,A,1,,,,,,,,,,,,,,,0.0,
$GPRMC,150059.417,V,0000.0000,N,00000.0000,E,0.0,0.0,080410,,,N
$GPVTG,0.0,T,,M,0.0,N,0.0,K,N
$GPGLL,0000.0000,N,00000.0000,E,150100.417,V,N
$GPGGA,150100.417,0000.0000,N,00000.0000,E,0,00,0.0,0.0,M,0.0,M,,
$GPGSA,A,1,,,,,,,,,,,,,,,0.0,
$GPRMC,150100.417,V,0000.0000,N,00000.0000,E,0.0,0.0,080410,,,N
$GPVTG,0.0,T,,M,0.0,N,0.0,K,N
…

Warning: The +GPSEVSTART: 1 event is sent only if the GPS firmware has been successfully loaded. This
may take several seconds.

2.4.3.2. Start sequence example for the XM0110 using I2C

That AT commands start sequence is applied to WMP/Q26/SL6087 + XM0110 Dev Kit Daughter
Board configuration, with I2C.
AT+GPSINIT=13
OK

+GPSEVINIT: 1
AT+GPSSTART
OK

+GPSEVSTART: 1

+GPSEVPOS: 0
$GPGLL,0000.0000,N,00000.0000,E,150059.417,V,N
$GPGGA,150059.417,0000.0000,N,00000.0000,E,0,00,0.0,0.0,M,0.0,M,,
$GPGSA,A,1,,,,,,,,,,,,,,,0.0,
$GPRMC,150059.417,V,0000.0000,N,00000.0000,E,0.0,0.0,080410,,,N
$GPVTG,0.0,T,,M,0.0,N,0.0,K,N
$GPGLL,0000.0000,N,00000.0000,E,150100.417,V,N
$GPGGA,150100.417,0000.0000,N,00000.0000,E,0,00,0.0,0.0,M,0.0,M,,
$GPGSA,A,1,,,,,,,,,,,,,,,0.0,
$GPRMC,150100.417,V,0000.0000,N,00000.0000,E,0.0,0.0,080410,,,N
$GPVTG,0.0,T,,M,0.0,N,0.0,K,N
…

Warning: The GPSEVSTART: 1 event is sent only if the GPS firmware has been successfully loaded. This
may take several seconds.

2.4.3.3. Start sequence example for gpsOne

AT+GPSINIT=2

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OK

+GPSEVINIT: 1
AT+GPSSTART
OK

+GPSEVSTART: 1

+GPSEVPOS: 0

$GPGGA,,,,,,0,,,,,,,,*66
$GPVTG,,T,,M,,N,,K,N*2C
$GPRMC,,V,,,,,,,,,,N*53
$GPGSA,A,1,,,,,,,,,,,,,,,*1E
…

2.4.3.4. Start sequence example for SiRFV

That AT commands start sequence is applied to AR6220-G Embedded Module.
AT+GPSINIT=30
OK

+GPSEVINIT: 1
AT+GPSSTART
OK

+GPSEVSTART: 1

+GPSEVPOS: 0
$GPGLL,0000.0000,N,00000.0000,E,150059.417,V,N
$GPGGA,150059.417,0000.0000,N,00000.0000,E,0,00,0.0,0.0,M,0.0,M,,
$GPGSA,A,1,,,,,,,,,,,,,,,0.0,
$GPRMC,150059.417,V,0000.0000,N,00000.0000,E,0.0,0.0,080410,,,N
$GPVTG,0.0,T,,M,0.0,N,0.0,K,N
$GPGLL,0000.0000,N,00000.0000,E,150100.417,V,N
$GPGGA,150100.417,0000.0000,N,00000.0000,E,0,00,0.0,0.0,M,0.0,M,,
$GPGSA,A,1,,,,,,,,,,,,,,,0.0,
$GPRMC,150100.417,V,0000.0000,N,00000.0000,E,0.0,0.0,080410,,,N
$GPVTG,0.0,T,,M,0.0,N,0.0,K,N
…

Warning: The GPSEVSTART: 1 event is sent only if the GPS firmware has been successfully loaded. This
may take several seconds.

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2.5. Location Services LED

The Location Services LED state is managed by the application and should be connected to the
specified GPIO of the Embedded Module. The factory default GPIO configuration could be changed
through the +GPSINIT AT command.
Below is the description of the LED state:

Location Services Location Description of Location Transition Event(s) to the

LED State Services state Services state Location Service state

GPS not started, not +GPSEVSTOP: 1

GPS Off
LED Off initialized or in a GPS sleep +GPSEVSLEEP: 1
GPS Sleep mode. +GPSEVRELEASE: 1

Fast blinking GPS start in progress

(including GPS receiver After the +GPSSTART AT
(125ms ON / 125ms GPS Starting
firmware download when command
OFF) required).
Normal Blinking +GPSEVSTART: 1
GPS receiver started, but no
(500ms ON / 500ms GPS Acquisition +GPSEVPOS: 0 (Lost Fix)
GPS fix available.
OFF) +GPSEVPOS: 4 (Invalid Fix)
Short blinking +GPSEVPOS: 2 (2D Fix)
GPS fix available (2D, 3D,
(100ms ON / 900ms GPS Tracking +GPSEVPOS: 3 (3D Fix)
estimated)
OFF) +GPSEVPOS: 1 (Estimated Fix)
+GPSEVERROR: X (X the error
code)
+GPSEVABORT: X (X the abort
An error has been received root cause)
LED On GPS Error +GPSEVSTART: 0
by the application.
+GPSEVSTOP: 0
+GPSEVSLEEP: 0
+GPSEVRELEASE: 0

Note: [] For gpsOne and SiRFV, application LED is not defined.

2.6. GPS receiver capabilities and restrictions

The features supported by the Location Services may depend on the GPS receiver type. The
following sections provide the GPS receiver specificities.

2.6.1. Supported NMEA sentences

The following table presents all supported NMEA sentences, and which are applicable to each GPS
Solution.
The table is marked with the indicators below.
: Fully supported.
: Partially supported or with specific behavior.
: Not supported.

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Description XM0110 gpsOne SiRFV

$GP NMEA frames

$GPGGA NMEA frame

 (3) [TBD]
(GPS Fix Data)

$GPGSA NMEA frame

  [TBD]
(GPS DOPS and Active Satellites)

$GPRMC NMEA frame

(1) (4) [TBD]
(Recommended Minimum GPS Sentence)

$GPVTG NMEA frame

(2)  [TBD]
(Course Over Ground and Ground Speed)

$GPGLLNMEA frame
  [TBD]
(Geographic Position - Latitude, Longitude)

$GPGST NMEA frame   [TBD]

$GPGSV NMEA frame

  [TBD]
(GPS Satellites in View)

$GPZDA NMEA frame   [TBD]

$PSWI,SA NMEA frame

(Proprietary sentence providing Solution Accuracy   [TBD]
parameters)

$GL NMEA frames

$GLXXX NMEA frame [TBD]   [TBD]

$GN NMEA frames

$GNXXX NMEA frame [TBD]   [TBD]

(1) Magnetic variation (fields #10 and #11) are not available, left empty.
(2) Magnetic course (field #3) is not available, left empty.
(3) Geoidal separation (field #8) is not available in frames GGA on SL3010T product, left empty.
(4) Magnetic Variation (field #8) and degree E/W (field #9) are not available in frames RMC on SL3010T product, left
empty.

2.6.2. Description of Proprietary NMEA sentences

 “PSWI” is the NMEA sentences ID for Sierra Wireless‟ Proprietary NMEA sentences.
 This NMEA sentence is activated through the +GPSNMEA AT command with <nmea_mask>
encode mask parameter GPS_NMEA_PROP_EN (1 << 15) activated.

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2.6.2.1. PSWI SA Solution Accuracy parameter

The “PSWI,SA” message provides XM0110 GPS position accuracy information.
The “PSWI,SA” message structure is: $PSWI,SA,1,4,1,5.0,7.5*27
The following table describes these fields:

Field Description

1 PSWI sentence description: “SA”

2 Message number
Fix type as described hereunder:
0: No navigation solution
1: 1 satellite degraded solution
2: 2 satellites degraded solution
4 3: 3 satellites solution (2D KF)
4: More than 3 satellites solution (3D KF)
5: 3 satellites least square solution (2D LSQ)
6: More than 3 satellites least square solution (3D LSQ)
7: Dead reckoning
Position determination status:
0: Solution is not overdetermined
3 1: Solution is overdetermined
Validated solution means that at some point at least 5 satellites were used in the
solution and the navigation software determined that all 5 were consistent with each
other (solution was overdetermined).
5 Estimated Horizontal Position Error (meters)
6 Estimated Vertical Position Error (meters)

[] For gpsOne: $PSWI sentences are not supported for that GPS Solution.

2.6.3. XM0110 capabilities and restrictions

2.6.3.1. Restriction on use of Embedded Module AT

commands
None.

2.6.3.2. Start-up time

The startup time is the duration between the +GPSSTART command and the +GPSEVSTART event.
After the +GPSEVSTART event, the Location Service has been correctly started, GPS receiver
hardware and software resources are activated, and GPS acquisition phase is starting.
The startup time includes the GPS receiver firmware download time if applicable.
AirPrime XM0110 GPS module firmware download takes place after GPS receiver ON or after GPS
receiver reset. If ON/OFF signal is managed by the Location Library, firmware download will then
occur after initial AT+GPSSTART or after AT+GPSSTOP – AT+GPSSTART sequence.
The startup time is:
 < 2 seconds when no GPS receiver firmware download.

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 approximately 5 seconds when firmware download is performed, for UART

 approximately 10 seconds when firmware download is performed, for I2C

2.6.3.3. Starting mode

Starting modes are used only for test purposes and allow start performance measurement.
The Start mode parameter is specified for each start using the +GPSSTART AT command. Please
refer to +GPSSTART AT command for more information.
The following table defines the minimum required data for each starting mode:

Starting Broadcasted Extended Approximate Time Calibration

Almanac
mode Ephemeris Ephemeris and Position Data

HOT X Used (1) X Updated X

WARM Used (1) X Updated X
COLD Used (1) Updated X
FACTORY Factory X

Note: Broadcasted Ephemeris data are used if data are available and valid. For example, HOT start
performed without broadcasted ephemeris will be treated as a WARM start.
Note: (1) Extended Ephemeris data (AEE/DEE) are used if data are available and valid. Extended
Ephemeris data are removed when FACTORY start is requested. Please refer to [3] for more
information.

The following table describes supported starting mode(s) from each Location Services application
state:

From SLEEP
From From SLEEP From SLEEP state
state
Description INITIALIZED state/ IDLE /DEEP SLEEP
/HIBERNATE
state mode mode
mode

Firmware download YES NO NO YES

HOT HOT
Supported start COLD WARM WARM
HOT
performances FACTORY COLD COLD
FACTORY FACTORY

2.6.3.4. GPS data management

GPS Data are required to improve next GPS start performances. GPS data are mainly made up of:
 Ephemeris data (Broadcasted and Extended)
 Time and Position
 Broadcasted Almanac
 Calibration data
GPS Data are stored to NV memory (Embedded Module FLASH memory) in the following
transition(s):

Location Library state transition GPS Data stored to NV memory

UNINITIALIZED to INITIALIZED state (+GPSINIT) N/A

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Location Library state transition GPS Data stored to NV memory

INITIALIZED to UNINITIALIZED state (+GPSRELEASE) N/A

INITIALIZED to RUNNING state (+GPSSTART) N/A
RUNNING to INITIALIZED state (+GPSSTOP) YES
RUNNING to SLEEP/IDLE state (+GPSSLEEP=0) NO
RUNNING to SLEEP/HIBERNATE state (+GPSSLEEP=1) YES
RUNNING to SLEEP/DEEP SLEEP state (+GPSSLEEP=2) YES

Note: Please refer State Machine for more information about state transitions.

2.6.4. gpsOne capabilities and restrictions

2.6.4.1. Restriction on use of Embedded Module AT

commands
None.

2.6.4.2. Start-up time

The startup time is the duration between the +GPSSTART command and the +GPSEVSTART event.
After the +GPSEVSTART event, the Location Service has been correctly started, GPS receiver
hardware and software resources are activated, and GPS acquisition phase is starting.
For gpsOne, no firmware download is required.

2.6.4.3. Starting mode

Starting modes are used only for test purposes and allow start performance measurement.
The Start mode parameter is specified for each start using the +GPSSTART AT command. Please
refer to +GPSSTART AT command for more information.
The following table describes minimum required data for each starting mode:

Starting Broadcasted Extended Approximate Time Calibration

Almanac
mode Ephemeris Ephemeris and Position Data

HOT X Used (1) X Updated X

WARM Used (1) X Updated X
COLD Used (1) Updated X
FACTORY Factory X

Note: Broadcasted Ephemeris data are used if data are available and valid. For example, HOT start
performed without broadcasted ephemeris will be treated as a WARM start.
Note: (1) Extended Ephemeris data (DEE) are used if data are available and valid. Extended Ephemeris
data are removed when FACTORY start is requested. Please refer to [3] for more information.

The following table describes supported starting mode(s) from each Location Services application
state:

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From SLEEP
From From SLEEP From SLEEP state
state
Description INITIALIZED state/ IDLE /DEEP SLEEP
/HIBERNATE
state mode mode
mode

HOT HOT HOT HOT

Supported start WARM WARM WARM WARM
performances COLD COLD COLD COLD
FACTORY FACTORY FACTORY FACTORY

Note: [] gpsOne: As sleep modes are not implemented, it explains why all start performances are
possible from sleep states.

2.6.4.4. GPS data management

Location Library state transition GPS Data stored to NV memory

UNINITIALIZED to INITIALIZED state (+GPSINIT) N/A

INITIALIZED to UNINITIALIZED state (+GPSRELEASE) N/A
INITIALIZED to RUNNING state (+GPSSTART) N/A
RUNNING to INITIALIZED state (+GPSSTOP) YES
RUNNING to SLEEP/IDLE state (+GPSSLEEP=0) N/A
RUNNING to SLEEP/HIBERNATE state (+GPSSLEEP=1) N/A
RUNNING to SLEEP/DEEP SLEEP state (+GPSSLEEP=2) N/A

Note: Please refer State Machine for more information about state transitions.

2.6.5. SiRFV capabilities and restrictions

2.6.5.1. Restriction on use of Embedded Module AT

commands
None.

2.6.5.2. Start-up time

The startup time is the duration between the +GPSSTART command and the +GPSEVSTART event.
After the +GPSEVSTART event, the Location Service has been correctly started, GNSS receiver
hardware and software resources are activated, and GPS/GLONASS acquisition phase is starting.
The startup time includes the GNSS receiver firmware download time if applicable.
SiRFV GNSS receiver firmware download takes place after GNSS receiver ON or after GNSS
receiver reset. Firmware download will then occur after initial AT+GPSSTART sequence.
The startup time is:
 < 2 seconds when no GNSS receiver firmware download.
 Approximately [TBC] seconds when firmware download is performed, for UART.

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2.6.5.3. Starting mode

Starting modes are used only for test purposes and allow start performance measurement.
The Start mode parameter is specified for each start using the +GPSSTART AT command. Please
refer to +GPSSTART AT command for more information.
The following table defines the minimum required data for each starting mode:

Starting Broadcasted Extended Approximate Time Calibration

Almanac
mode Ephemeris Ephemeris and Position Data

HOT X Used (1) X Updated X

WARM Used (1) X Updated X
COLD Used (1) Updated X
FACTORY Factory X

Note: Broadcasted Ephemeris data are used if data are available and valid. For example, HOT start
performed without broadcasted ephemeris will be treated as a WARM start.
Note: (1) Extended Ephemeris data (AEE/DEE) are used if data are available and valid. Extended
Ephemeris data are removed when FACTORY start is requested. Please refer to [3] for more
information.

The following table describes supported starting mode(s) from each Location Services application
state:

From SLEEP
From From SLEEP From SLEEP state
state
Description INITIALIZED state/ IDLE /DEEP SLEEP
/HIBERNATE
state mode mode
mode

Firmware download YES NO NO YES

HOT HOT
Supported start COLD WARM WARM
HOT
performances FACTORY COLD COLD
FACTORY FACTORY

2.6.5.4. GPS data management

GPS Data are required to improve next GPS start performances. GPS data are mainly made up of:
 Ephemeris data (Broadcasted and Extended)
 Time and Position
 Broadcasted Almanac
 Calibration data
GPS Data are stored to NV memory (Embedded Module FLASH memory) in the following
transition(s):

Location Library state transition GPS Data stored to NV memory

UNINITIALIZED to INITIALIZED state (+GPSINIT) N/A

INITIALIZED to UNINITIALIZED state (+GPSRELEASE) N/A
INITIALIZED to RUNNING state (+GPSSTART) N/A
RUNNING to INITIALIZED state (+GPSSTOP) YES

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Location Library state transition GPS Data stored to NV memory

RUNNING to SLEEP/IDLE state (+GPSSLEEP=0) NO

RUNNING to SLEEP/HIBERNATE state (+GPSSLEEP=1) YES
RUNNING to SLEEP/DEEP SLEEP state (+GPSSLEEP=2) YES

Note: Please refer State Machine for more information about state transitions.

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 3. Location Services States
This section provides information of the Location Services states, their transitions and allowed AT
commands for each state.

3.1. State Machine

Below is a diagram of states and transitions of the Location Services application.
Airprime Embedded Module Power On / Reset

AT+GPSXXXX : AT command initially called by the user

GPS_UNINITIALIZED
+GPSEVAAAA: Event that triggers the transition
Quick start with default configuration

AT+GPSINIT
AT+GPSRELEASE +GPSEVINIT: 1
+GPSEVRELEASE: 1

+GPSEVABORT:

AT+GPSSTART
+GPSEVINIT: 1
+GPSEVSTART: 1 GPS_INITIALIZED
AT+GPSSTOP
+GPSEVSTOP: 1

AT+GPSSTART
AT+GPSSTOP +GPSEVSTART: 1
+GPSEVSTOP: 1
AT+GPSSLEEP
+GPSEVSLEEP: 1

GPS_RUNNING GPS_SLEEP

AT+GPSSTART
+GPSEVSTART: 1

Figure 1. Location Services state diagram

Caution: “GPSEVXXXX: 0” events are not represented, as they do not trigger any state transition.

3.2. AT Commands Calls Requirements

The following table shows the prerequisites when using the Location AT commands.
„X‟ means the AT Command is authorized in the corresponding state.
„-‟ means the AT Command is NOT authorized in the corresponding state.

Table 1. Location AT commands prerequisites

Function
GPS_UNINITIALIZED

GPS_INITIALIZED

GPS_RUNNING

GPS_SLEEP

AT+GPSINIT X - - -
AT+GPSSTART X X - X

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Function

GPS_UNINITIALIZED

GPS_INITIALIZED

GPS_RUNNING

GPS_SLEEP
AT+GPSSTOP - - X X
AT+GPSRELEASE - X - -
AT+GPSSLEEP - - X -
AT+GPSCONF - X X* X*
AT+GPSSTATE X X X X
AT+GPSVERS X X X X
AT+GPSNMEA - X X X
AT+GPSPVT - X X X
AT+GPSTTFF - X X X
AT+GPSSAVE X X X X
AT+GPSDEBUG - X X X
AT+GPSHELP X X X X
AT+GPSAID - X** X** X**

* Some configurations cannot be set in this state. Please refer to +GPSCONF command section for more information.
** Some configurations cannot be set in this state. Please refer to +GPSAID command section for more information.

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 4. AT Command Syntax
This section describes the AT command format and the default value for their parameters.

4.1. Command Line

Commands always start by the standard prefix “AT+GPS” and end with the <CR> character. Optional
parameters are shown in brackets [ ].
Example:
AT+GPScmd=<Param1>[,<Param2>]
<Param2> is optional. When the AT+GPScmd is executed without <Param2> the default value of
<param2> is used.
Default value is the last configured parameter or the last saved parameter value after the Embedded
Module reset or factory default value if parameters were not saved.
The factory default configuration can be changed with +GPSSAVE Command.

4.2. Information Responses and Result Codes

Responses start and end with <CR><LF>.
 If command syntax is incorrect, the "ERROR" string is returned.
 If command syntax is correct but transmitted with wrong parameters, the "+GPS ERROR:
<Err>" string is returned with adequate error codes. Please refer to Location AT commands
error codes description for more details about error code values.
 If the command line has been executed successfully, an "OK" string is returned.
In the following examples <CR> and <CR><LF> are intentionally omitted.

Note: The unsolicited AT command responses are sent through the AT port where the last +GPSINIT or
+GPSSTART commands is received. This AT port is saved with +GPSSAVE AT command. Prior to
+GPSINIT and +GPSSTART, and if no AT port was saved, the unsolicited responses are sent to all
opened port.

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The following AT commands allow the control of Location Services for basic operation.

5.1. Command +GPSHELP

5.1.1. Description
This AT Command is used to display the Location AT commands help.

Note: +GPSHELP command syntax is subject to change with application evolution.

5.1.2. Syntax
Action command
AT+GPSHELP=[<at_command>]
OK

Test command
AT+GPSHELP=?
+GPSHELP: (list of supported <at_command>s)
OK

5.1.3. Parameters and Defined Values

<at_command >: The string parameter specifies the AT command described by help display.

5.1.4. Examples

Command Responses

+GPSINIT= <hw>[,<spi>,<cs>,<reset>,<enable>,
AT+GPSHELP <clock32k>]

Note: displays all supported Location …

Services AT command format.
OK

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Command Responses

AT+GPSHELP=GPSSTART
+GPSSTART=[<starting_mode>]
Note: displays information about the
+GPSSTART AT command. <starting_mode>: 0 [GPS_HOT_START]

<starting_mode>: 1 [GPS_WARM_START]

<starting_mode>: 2 [GPS_COLD_START]

<starting_mode>: 3 [GPS_FACTCOLD_START]
OK

AT+GPSHELP=? +GPSHELP:
(GPSINIT,GPSNMEA,GPSSTART,GPSSTOP,GPSSTATE,GPSTTFF,GPSS
Note: displays all supported Location AVE, etc.)OK
AT command.

5.2. Command +GPSNMEA

5.2.1. Description
This AT command configures the NMEA frames flow, the output port and the NMEA sentences
encode mask.
The list of supported NMEA frames depends on the GPS receiver. Please refer to Supported NMEA
sentences for more details.
Please refer to the State Machine and AT Commands Calls Requirements for more information about
call state and transition mode.

Note: NMEA sentences are output as unsolicited AT command responses. In consequence, in case the
output port is not dedicated but shared with AT commands, NMEA frames output will be suspended
while an AT command is being processed, and resume once the AT command has returned. In
case of significant delay, some NMEA sentences may be partially or totally lost.

5.2.2. Syntax
Action command
AT+GPSNMEA=[<output>][,[<rate>][,<nmea_mask>],[<nmea_profile>]]
OK

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Read command
AT+GPSNMEA?
+GPSNMEA: <output>,<rate>,<nmea_mask>,<nmea_profile>
OK

Test command
AT+GPSNMEA=?
+GPSNMEA: (list of supported <output>s),(list of supported <rate>s), (list
of supported <nmea_mask>s), (list of supported NMEA profiles)
OK

5.2.3. Parameters and Defined Values

<output>: This parameter specifies the port which is to be used by the application to transmit
the NMEA frames. (Hexadecimal value entered without the prefix “0x”). This port
can also be used simultaneously as the PVT sentences output port if need be.
If omitted: last known value within current session. Please refer to Diagram for
settings management for more information.
Factory default value: 1.

Note: The port has to be different from the port used for the communication
between GPS receiver and the Embedded Module. See +GPSINIT for
more details.

0 NMEA frames are not output.

1 NMEA frames output on UART 1.

2 NMEA frames output on UART 2.

3 NMEA frames output on USB.

4 NMEA frames output on port where the +GPSNMEA command was received.
The supported ports are described above.

5 NMEA frames output on UART 3.

0x1X CMUX virtual port, Logical ports over UART1 where 1 <= X <=4

0x2X CMUX virtual port, Logical ports over UART2 where 1 <= X <=4

0x5X CMUX virtual port, Logical ports over UART3 where 1 <= X <=4

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<rate>: This parameter defines the NMEA frames update rate in seconds.
If omitted: last known value within current session. Please refer to Diagram for
settings management for more information.
Factory default value: 1.
Range: 0-65535

Note: If this parameter is equal to 0, the NMEA frames will be sent only
once, on the next occurrence of the NMEA frames update.
Note: This parameter is impacted by the Reduced Rate GPS Navigation.
Please refer to +GPSCONF AT command for more information.

<nmea_mask>: NMEA sentences list encode mask (Hexadecimal value entered without the
prefix “0x”).
This parameter defines the NMEA sentences encode mask as described
hereunder.
If omitted: last known value within current session. Please refer to Diagram for
settings management for more information.
Factory default value: 0xFFFF.
Range: 0x0-0xFFFF

Note: [] All NMEA frames may not be supported depending on GPS
receiver type. Refer to Supported NMEA sentences for more
information.

0: GPS_NMEA_NONE_EN - All NMEA frames output are disabled

(1 << 0): GPS_NMEA_GGA_EN - NMEA $GPGGA (GPS Fix Data) output enabled

(1 << 1): GPS_NMEA_GGSA_EN - NMEA $--GSA (GNSS DOPS and Active Satellites)
output enabled.

(1 << 2): GPS_NMEA_RMC_EN - NMEA $--RMC (Recommended Minimum GNSS

Sentence) output enabled.

(1 << 3): GPS_NMEA_VTG_EN - NMEA $--VTG (Course Over Ground and Ground
Speed) output enabled.

(1 << 4): GPS_NMEA_GLL_EN - NMEA $--GLL (Geographic Position - Latitude,

Longitude) output enabled.

(1 << 5): GPS_NMEA_GST_EN - NMEA $--GST (GNSS Pseudorange Error Statistics)

output enabled (if supported by GPS receiver).

(1 << 6): GPS_NMEA_GSV_EN - NMEA $--GSV (GNSS Satellites in View) output

enabled.

(1 << 7): GPS_NMEA_ZDA_EN - NMEA $--ZDA (Time & Date) output enabled (if
supported by GPS receiver).

(1 << 8): GPS_NMEA_GNS_EN_NMEA $--GNS (GNSS Fix Data) output enabled

(1 << 15): GPS_NMEA_PROP_EN - NMEA $PXXXX sentences enabled. The GPS

Proprietary diagnostics data output are enabled (if supported by GPS receiver).

0xFFFF: GPS_NMEA_ALL_EN - ALL NMEA frames output supported by the GPS

receiver are enabled.

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<nmea_profile>: NMEA profile for the NMEA Mask

This parameter defines the profile on which the parameter <NMEA Mask> will
be applied.
If omitted: last known value within current session. Please refer to Diagram for
settings management for more information.
Factory default value: 0xFF.
Range: 0x0 – 0xFF.

Note: [] All NMEA profiles may not be supported depending on GPS
receiver type. Refer to Supported NMEA sentences for more
information.

0: GPS_NMEA_PROFILE_NONE - No NMEA profile.

(1 << 0): GPS_NMEA _PROFILE_GPS - “<nmea_mask> is applied to “$GP” NMEA

frames “

(1 << 1): GPS_NMEA_PROFILE_GLONASS - “<nmea_mask> is applied to “$GL” NMEA

frames “

(1 << 7): GPS_NMEA_PROFILE_GNSS - “<nmea_mask> is applied to “$GN” NMEA

frames “

0xFF : GPS_NMEA_PROFILE_ALL – All NMEA profile.

5.2.4. Examples
Command Responses

AT+GPSNMEA=3 OK
Note: request NMEA frames output on port 3 or
(USB).
+GPS ERROR: X
Note: For more information about X value, please refer to Location AT
commands error codes description.
AT+GPSNMEA=1,5 OK
Note: request NMEA frames output on UART1 (1) or
with an update rate of 5 seconds.
+GPS ERROR: X
Note: For more information about X value, please refer to Location AT
commands error codes description.
AT+GPSNMEA=1,1,FFFF OK
Note: request all NMEA frames output on UART1 or
(1) with an update rate of 1 second.
+GPS ERROR: X
Note: For more information about X value, please refer to Location AT
commands error codes description.

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Command Responses

AT+GPSNMEA=1,1,FFFF,3 OK
Note: request all NMEA frames output on UART1 or
(1) with an update rate of 1 second, only for GPS
and GLONASS constellation ( No GN +GPS ERROR: X
NMEA sentence will be displayed ).
Note: For more information about X value, please
refer to Location AT commands error codes
description.

AT+GPSNMEA=,60,19 OK
Note: request VTG+GGA+GLL NMEA sentences or
output on default port with an update rate of 60
seconds. +GPS ERROR: X
Note: For more information about X value, please refer to Location AT
commands error codes description.
AT+GPSNMEA=,,19 OK
Note: request VTG+GGA+GLL NMEA sentences or
output on default port with the default update rate.
+GPS ERROR: X
Note: For more information about X value, please refer to Location AT
commands error codes description.
AT+GPSNMEA=? +GPSNMEA: (0-5,11-14,21-24,51-54),(0-65535),(0-
FFFF), (0-FF)
OK

AT+GPSNMEA?
+GPSNMEA: 1,1,FFFF,FF
Note: Allow to retrieve the current default
configuration. OK

5.3. Command +GPSPVT

5.3.1. Description
This AT command configures the PVT sentences flow including the output port, the output rate, and
the PVT sentences output mask.
The PVT sentences include the main GPS information like Fix Status, Position, Velocity, Time and
satellites information.
Please refer to the State Machine and AT Commands Calls Requirements for more information about
call state and transition mode.

Note: PVT sentences are output as unsolicited AT command responses. In consequence, in case the
output port is not dedicated but shared with AT commands, PVT sentences output will be
suspended while an AT command is being processed, and resume once the AT command has
returned. In case of significant delay, some PVT sentences may be partially or totally lost.

Note: [] +GPSPVT AT command is not supported for gpsOne.

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5.3.2. Syntax
Action command
AT+GPSPVT=[<output>][,[<rate>][,<pvt_mask>]]
OK

Read command
AT+GPSPVT?
+GPSPVT: <output>,<rate>,<pvt_mask>
OK

Test command
AT+GPSPVT=?
+GPSPVT: (list of supported <output>s),(list of supported <rate>s), (list
of supported <pvt_mask>s)
OK

5.3.3. Parameters and Defined Values

<output>: This parameter specifies the port which is to be used by the application to transmit
the PVT sentences. (Hexadecimal value entered without the prefix “0x”). This port
can also be used simultaneously as the NMEA frames output port if need be.
If omitted: last known value within current session. Please refer to Diagram for
settings management for more information.
Factory default value: 0.

Note: The port has to be different from the port used for the communication
between GPS receiver and the Embedded Module. See +GPSINIT for
more details.

0 PVT sentences are not output.

1 PVT sentences output on UART 1.

2 PVT sentences output on UART 2.

3 PVT sentences output on USB.

4 PVT sentences output on port where the +GPSPVT command was received.

5 PVT sentences output on UART 3.

0x1X CMUX virtual port, Logical ports over UART1 where 1 <= X <=4

0x2X CMUX virtual port, Logical ports over UART2 where 1 <= X <=4

0x5X CMUX virtual port, Logical ports over UART3 where 1 <= X <=4

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<rate>: This parameter defines the PVT sentences update rate in seconds.
If omitted: last known value within current session. Please refer to Diagram for
settings management for more information.
Factory default value: 1.
Range: 0-65535

Note: If this parameter is equal to 0, the PVT sentences will be sent only
once, on the next occurrence of the PVT sentences update.
Note: This parameter is impacted by the Reduced Rate GPS Navigation.
Please refer to +GPSCONF AT command for more information.

<pvt_mask>: PVT sentences list encode mask (Hexadecimal value entered without the prefix
“0x”).
This parameter defines the PVT sentences encode mask as described
hereunder.
The PVT sentence includes the header +GPSPVT: X with X defined as the PVT
sentence identifier. All the fields are separated by a comma.
If omitted: last known value within current session. Please refer to Diagram for
settings management for more information.
Factory default value: 0xFFFF.
Range: 0x0-0xFFFF

0: PVT sentence including the main GPS position information. The fields are
described hereunder:
Header: +GPSPVT: 0
1: UTC of position fix in HH:MM:SS format
2: Date in dd/mm/yyyy format
3: GPS position fix state: “NO FIX”, “ES FIX” (Estimated Fix), “2D FIX” or “3D
FIX”
4: Latitude: Direction („N‟ North or „S‟ South) and the Latitude in DD MM‟SS.SS”
5: Longitude: Direction („E‟ East or „W‟ West) and the Longitude in DDD
MM‟SS.SS”
6: Altitude above Mean Sea Level in meters in +/-mmmm format
Example:
+GPSPVT: 0,08:17:32,27/04/2010,3D FIX,N 48 34'52.90'',E 002
21'58.65'',+0010m

1: PVT sentence including the Course and the Speed over the ground. The fields
are described hereunder:
Header: +GPSPVT: 1
1: Dimensional Course Over Ground in degrees in ddd.d format [0-359.9].
2: Dimensional Speed Over Ground in meter per second in sss format
Example:
+GPSPVT: 1,087.5deg,021m/s

2: PVT sentence including the main satellites information. The fields are described
hereunder:
Header: +GPSPVT: 2
1: Satellites in View used for Navigation followed by “SV”

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2: HDOP (Horizontal Dilution of Precision) followed by “HDOP”

3: Satellites in View Maximum Signal To Noise Ratio [dBHz, integer value]
4: Satellites in View Average Signal To Noise Ratio [dBHz, 1 decimal value]
Example:
+GPSPVT: 2,05SV,1.7HDOP,23,12.0

3: PVT sentence including the detailed satellites information. There are a

maximum of 6 satellites per sentence; therefore there may be several sentences
in one cycle. The fields are described hereunder:
Header: +GPSPVT: 3
1: Total number of messages of this type in this cycle
2: Message number in this cycle
3: Satellites in View SV id number [PRN]
4: Satellite status: “U” for Used for Navigation or “N” for Not used for Navigation
5: Satellites in View Signal To Noise Ratio [dBHz, integer value]
[6–8]: Information about second SV, same format as fields 3–5
[9–11]: Information about third SV, same format as fields 3–5
[12–14]: Information about fourth SV, same format as fields 3–5
[15–17]: Information about fifth SV, same format as fields 3–5
[18–20]: Information about sixth SV, same format as fields 3–5
Example for 7 satellites:
+GPSPVT: 3,2,1,[13,U,36],[18,U,8],[29,U,24],[21,U,14],[03,U,40],[07,U,14]
+GPSPVT: 3,2,2,[08,U,18]

5.3.4. Examples
Command Responses

AT+GPSPVT=3 OK
Note: request PVT sentences output on port 3 or
(USB).
+GPS ERROR: X
Note: For more information about X value, please refer to Location AT
commands error codes description.
AT+GPSPVT=3,5 OK
Note: request PVT sentences output on port 3 or
(USB) with an update rate of 5 seconds.
+GPS ERROR: X
Note: For more information about X value, please refer to Location AT
commands error codes description.
AT+GPSPVT=3,1,FFFF OK
Note: request all PVT sentences output on USB or
(3) with an update rate of 1 second.
+GPS ERROR: X
Note: For more information about X value, please refer to Location AT
commands error codes description.

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Command Responses

AT+GPSPVT=? +GPSPVT: (0-5,11-14,21-24,51-54),(0-65535),(0-

FFFF)
OK

AT+GPSPVT?
+GPSPVT: 1,1,FFFF
Note: Allow to retrieve the current default
configuration. OK

5.3.5. Example of AT command sequence

AT+GPSINIT=11
OK
+GPSEVINIT: 1
AT+GPSNMEA=0
OK
AT+GPSPVT=1
OK
AT+GPSSTART
OK

+GPSEVSTART: 1

+GPSEVPOS: 0

+GPSPVT: 0,00:00:00,00/00/0000,NO FIX,N 00 00'00.00",E 00 00'00.00",-0047m

+GPSPVT: 1,000.0deg,000m/s

+GPSPVT: 2,06SV,0.0HDOP,04,3.5

+GPSPVT: 3,1,1,[02,U,03],[04,U,04],[09,U,04],[12,U,04],[14,U,03],[32,U,03]

+GPSPVT: 0,00:00:00,00/00/0000,NO FIX,N 00 00'00.00",E 00 00'00.00",-0047m

+GPSPVT: 1,000.0deg,000m/s

+GPSPVT: 2,06SV,0.0HDOP,28,19.7

+GPSPVT: 3,1,1,[02,U,11],[04,U,19],[09,U,16],[12,U,23],[14,U,28],[32,U,21]
…

Warning: The +GPSEVSTART: 1 event is sent only if the GPS firmware has been successfully loaded. This
may take several seconds.

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5.4. Command +GPSSAVE

5.4.1. Description
The current setting is stored in FLASH memory as the new default settings when the command
+GPSSAVE=1 is entered. All the parameters of +GPS AT commands are saved. These settings will
be used after each Embedded Module reset as default configuration.
If the user wants the application to retrieve the default factory configuration (refer to each Location AT
command description), the command AT+GPSSAVE = 0 should be given and the Embedded Module
should be reset.
The application state (Please refer to State Machine for more information) is also saved as default
configuration and used at the start (after the Embedded Module reset) to put the application in this
state. This configuration is used for the automatic start.
Please refer to Diagram for settings management for more information.

Note: The AT port where unsolicited Location AT command responses are sent is also saved with
+GPSSAVE AT command. Please refer to AT Command Syntax chapter for more information.

5.4.2. Syntax
Action command
AT+GPSSAVE= <mode>
OK

Read command
AT+GPSSAVE?
+GPSSAVE:<mode>
OK

Test command
AT+GPSSAVE=?
+GPSSAVE: (list of supported <mode>s)
OK

5.4.3. Parameters and Defined Values

<mode>: Saving mode.

0 The application should reset all settings to their factory default values for the
next Embedded Module reset.

1 The application should save the current settings as new default settings. If the
Embedded Module is reset, the application uses those settings at restart.

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5.4.4. Examples
Command Responses

AT+GPSSAVE? +GPSSAVE: 0
OK
Note: 0 if no saved settings or 1 if settings have been saved.

AT+GPSSAVE=1 OK

Note: The current settings are saved. or

+GPS ERROR: X
Note: For more information about X value, please refer to Location AT
commands error codes description.

AT+GPSSAVE=?
+GPSSAVE: (0-1)
OK

5.4.5. Diagram for settings management

The following diagram describes the Location AT application settings management:

AirPrime Embedded Module Power On / Reset

Location AT application
started

+GPSSAVE?
(Does Location Application +GPSSAVE: 1
+GPSSAVE: 0
Flash Object exist?) (YES)
(NO)

Values of current session

Impact on Location Library Flash object
Factory Default values are saved in Location Library Impact on Last stored values when
next start deleted
applied Flash object next start +GPSSAVE command has
been enterred

Values modified through AT+GPSSAVE=0

Location AT command AT+GPSSAVE=1 Values modified through
Location AT command

Last know values within

current session

Note: The factory default values are described for each field in tables describing Location AT commands.
Note: If +GPSSAVE already equals 1 and a setting is modified through an AT command (for example
+GPSCONF), the modified setting is not saved until the +GPSSAVE=1 command is entered.

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Note: The configuration of current session can be retrieved with the read command of each +GPS AT
command, for example “AT+GPSCONF?”.

5.5. Command +GPSSTART

5.5.1. Description
This AT command starts the GPS or restarts the GPS after the +GPSSTOP or +GPSSLEEP
command. The input parameter specifies the type of START command.
When AT+GPSSTART (without parameter) is entered, the GPS starts with the last known starting mode
value within current session. That starting mode can be retrieved using “+GPSTART?” read command.
OK is returned if the request has been processed. The final result will be sent to the associated event
through an unsolicited response after the action has been completed.
Please refer to the State Machine and AT Commands Calls Requirements for more information about
call state and transition mode.

5.5.2. Syntax
Action command
AT+GPSSTART= [<starting_mode>]
OK

Read command
AT+GPSSTART?
+GPSSTART:<starting_mode>
OK

Test command
AT+GPSSTART=?
+GPSSTART: (list of supported <starting_mode>s)
OK

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Unsolicited response
+GPSEVSTART: <status>

5.5.3. Parameters and Defined Values

<starting_mode>: The parameter specifies the GPS starting mode of the application. These
starting modes are used for test purposes.
If omitted: last known value within current session. Please refer to Diagram for
settings management for more information.
Factory default value: 0.

0 "HOT" start with all previous NV stored data.

1 “WARM" start with previous NV stored data except Broadcasted Ephemeris.

2 "COLD" start with NO previous NV store data except calibration data, updated
Almanac, and Extended Ephemeris if available. Time and last location are
unknown.

3 "FACTCOLD" start with Factory Default Data instead of previous run data.

<status> Event status

0 The action has failed. Application state is unchanged.

1 The action has been successfully completed.

Note: Please refer to Starting mode description in GPS receiver capabilities and restrictions chapter for
more information.
Note: GPS Data are stored to NV memory during specific Location Services Application transition. Please
refer to GPS data management for more information.

Note: [] gpsOne: For WARM, COLD and FACTORY commanded Starting Modes, a HOT Starting Mode
could be performed if the duration between stop and start transitions is too short. In that case, the
“+GPSEVERROR: -23,9” error event will be received. Recommended value for that duration is 80
seconds.

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5.5.4. Examples
Command Responses

AT+GPSSTART? +GPSSTART: 0
OK
Note: The current starting mode is the “HOT” start.
AT+GPSSTART=1 OK
Note: Starts GPS in WARM mode. +GPSEVSTART: 1
or
+GPS ERROR: X
Note: For more information about X value, please refer to Location AT
commands error codes description.
AT+GPSSTART=? +GPSSTART: (0-3)
OK

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The following specific AT commands are defined to finely control and monitor the Location Services.
These commands can be used to assess performances of the system.

6.1. Command +GPSSTATE

6.1.1. Description
This AT command returns the current application state.
Please refer to the State Machine and AT Commands Calls Requirements for more information about
call state and transition mode.

6.1.2. Syntax
Read command
AT+GPSSTATE?
+GPSSTATE:<state>
OK

Test command
AT+GPSSTATE=?
OK

6.1.3. Parameters and Defined Values

<state>: Application state as described below
1.

0 Application is in GPS_UNINITIALIZED state

2.

1 Application is in GPS_INITIALIZED state

3.

2 Application is in GPS_RUNNING state

4.

3 Application is in GPS_SLEEP state

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6.1.4. Examples
Command Responses

AT+GPSSTATE? +GPSSTATE: 0
OK

AT+GPSSTATE=? OK

6.2. Command +GPSINIT

6.2.1. Description
This AT command initializes the Location Services. It is accepted only if application is in
GPS_UNINITIALIZED state. It allows specifying the hardware setup of the system.
Some predefined setups (Hardware Configuration) are available for ease of use.
If this command is omitted, last saved hardware setup is used. If no hardware setup was saved,
default factory configuration is used.
Please refer to the State Machine and AT Commands Calls Requirements for more information about
call state and transition mode.
OK is returned if the request has been processed. The final result will be sent to the associated event
through an unsolicited response after the request has been processed.

6.2.2. Syntax
Action command
AT+GPSINIT= <hw>
[,<bus_type>,<bus_number>,<on_off>,<reset>,<gps_wakeup>,<host_wakeup
>,<clock32k>,<appli_led>]
OK

Read command
AT+GPSINIT?
+GPSINIT:<hw>,<bus_type>,<bus_number>,<on_off>,<reset>,<gps_wakeup>,
<host_wakeup>,<clock32k>,<appli_led>
OK

Test command
AT+GPSINIT=?
+GPSINIT: (list of supported <hw>s), (list of supported <bus_type>s), (list
of supported <bus_number>s), (list of supported <on_off>s),(list of
supported < reset >s),(list of supported <gps_wakeup>s),(list of supported

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<host_wakeup >s),(list of supported <clock32k>s),(list of supported

<appli_led>s)
OK

Unsolicited response
+GPSEVINIT: <status>

6.2.3. Parameters and Defined Values

<hw >: Hardware value: Hardware Type or Hardware Configuration for initialization.
If a Hardware Configuration is provided, no other parameter can be specified.
If a Hardware Type is provided, the other hardware settings should be specified or
previously specified parameters apply.
See the Hardware Configuration section for more details on default hardware settings.

1 Hardware Type for XM0110.

[] Only supported for XM0110.

2 Hardware Type for gpsOne.

[] Only supported for gpsOne.

3 Hardware Type for SiRFV.

[] Only supported for SiRFV.

10 Hardware Configuration: Old XM0110 Dev Kit Daughter Board (WM0701201-23-10),

for UART.

[] Only supported for XM0110.

11 Hardware Configuration: XM0110 Dev Kit Daughter Board (WM0701201-23-2X), for

UART.

[] Only supported for XM0110.

12 Obsolete Hardware Configuration for XM0110 Dev Kit Daughter Board

(WM0701201-23-10 ), for UART, for SL6087 Embedded Module.

[] Only supported for XM0110.

13 Hardware Configuration: XM0110 Dev Kit Daughter Board (WM0701201-23-2X), for

I2C.

[] Only supported for XM0110.

30 Hardware Configuration: AR6220-G integrating SiRFV GNSS receiver.

[] Only supported for SiRFV.

<bus_type>: Bus type on which the GPS receiver is connected.

1 UART

2 I2C

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<bus_number>: Bus number on which the GPS receiver is connected.

1 Bus number 1

2 Bus number 2, for example UART2 (if a UART bus type is selected)

<on_off>: ON/OFF Command ID / GPIO number

Range: 0-65535
In case the user intends to manage GPS receiver power up/power down on its own
(i.e., independently of +GPSSTART and +GPSSTOP command), then the
parameter shall be set to 65535.

<reset>: Reset Command ID / GPIO number

Range: 0-65535

<gps_wakeup>: GPS receiver Wakeup Command ID / GPIO number

Range: 0-65535
In case GPS receiver wake-up is not to be driven by a dedicated GPIO, parameter
must be set to 65535.

Note: For UART bus type, 65535 is the only accepted value. For I2C, 65535
is not accepted, a GPIO must be specified.

<host_wakeup>: Host Wakeup external interrupt input ID / External Interrupt number

Range: 0-65535 (0 for INT0, 1 for INT1, etc.).

In case host wake-up is not to be driven by an External Interrupt, parameter must
be set to 65535.

<clock32k>: 32KHz clock management

0 GPS_32K_NONE (No 32kHz clock is provided to GPS receiver).

1 GPS_32K_INTERNAL (32kHz clock is provided by the Embedded Module to the

GPS receiver and managed automatically by the application through AT+WHCNF
command).

2 GPS_32K_EXTERNAL (32kHz clock is provided by an external way to GPS

receiver).

<appli_led>: Application led Command ID / GPIO number

Range: 0-65535
In case application Led is not to be driven by a GPIO, parameter must be set to
65535.
In case application Led GPIO is to be automatically selected by the Location AT
application upon Embedded Module type, parameter must be set to 65534. In this
case the application Led GPIO is forced to GPIO31 for the Q26/WMP Embedded
Modules and GPIO20 for the SL6087 Embedded Module.

<status> Event status

0 The action has failed. Application state is unchanged.

1 The action has been successfully completed.

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6.2.4. Examples
Command Responses

AT+GPSINIT? +GPSINIT:
1,1,2,22,23,65535,65535,1,65534
OK
Note: [] Default configuration response for XM0110
AT+GPSINIT=1 OK
Note: For default configuration applied on XM0110
+GPSEVINIT: 1
or
+GPS ERROR: X
Note: For more information about X value, please
refer to Location AT commands error codes
description.
AT+GPSINIT=11 OK
Note: [] For XM0110 Dev Kit DB V2 HW settings for UART
+GPSEVINIT: 1
or
+GPS ERROR: X
Note: For more information about X value, please
refer to Location AT commands error codes
description.
AT+GPSINIT=2 OK
Note: [] Example for gpsOne
+GPSEVINIT: 1
or
+GPS ERROR: X
Note: For more information about X
value, please refer to Location AT
commands error codes description.

AT+GPSINIT=30 OK
Note: [] Example for SiRFV
+GPSEVINIT: 1
or
+GPS ERROR: X
Note: For more information about X
value, please refer to Location AT
commands error codes description.

AT+GPSINIT=1,1,2,22,23,65535,0,1,65534 OK
Note: [] XM0110: For same HW settings as Hardware Configuration
11 but with INT0 as host wake-up interrupt. +GPSEVINIT: 1
or
+GPS ERROR: X
Note: For more information about X value, please
refer to Location AT commands error codes
description.

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Command Responses

AT+GPSINIT=? +GPSINIT: 1,(1-2),(1-2),(0-

65535),(0-65535),(0-65535),(0-
65535),(0-2),(0-65535)
OK
Note: [] Response for XM0110

6.2.5. Hardware Configuration

6.2.5.1. XM0110 Hardware Configuration

The default hardware resources settings according to Hardware Type and Hardware Configuration
are described below:

Hardware Type 1
(<hw>=1), or Hardware Hardware
Hardware Configuration 13 Configuration 10
Configuration 11 (<hw>=13) (<hw>=10)
(<hw>=11)

XM0110 Dev Kit DB XM0110 Dev Kit DB Old XM0110 Dev Kit DB
Hardware setup (WM0701201-23-2X) (WM0701201-23-2X) (WM0701201-23-10)
compatibility
for UART. for I2C for UART.
<hw> 1 1 1
<bus_type> 1 2 1
<bus_number> 2 1 2
<on_off> 22 22 22
<reset> 23 23 19
<gps_wakeup> 65535 (Not managed) 24 65535 (Not managed)
<host_wakeup> 65535 (Not managed) 65535 (Not managed) 65535 (Not managed)
<clock32k> 1 1 1
65534 (GPIO
65534 (GPIO automatically
automatically selected
selected depending on
depending on embedded
<appli_led> embedded module type: 20
module type: GPIO31 for
GPIO31 for Q26/WMP and
Q26/WMP and GPIO20
GPIO20 for SL6087).
for SL6087).

Note: The following Hardware Configuration is obsolete:

<hw>=12 (XM0110 Dev Kit DB V2 WM0701201-23-10 + SL6087 Dev Kit + UART config.)
<hw>=11 should now be used for this hardware setup.

6.2.5.2. gpsOne Hardware Configuration

The default hardware resources settings according to Hardware Type and Hardware Configuration
are described below:

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Hardware Type 2 (<hw>=2)

Hardware setup compatibility gpsOne

<hw> 2

Note: No Hardware Configuration is available for gpsOne. Only Hardware type parameter is used.

6.2.5.3. SiRFV Hardware Configuration

The default hardware resources settings according to Hardware Type and Hardware Configuration
are described below:

Hardware Type 3 (<hw>=3), or

Hardware Configuration 30 (<hw>=30)

Hardware setup
AR6220-G Embedded Module
compatibility
<hw> 3
<bus_type> 1
<bus_number> 2
<on_off> 101 (Internal GPIO)
<reset> 100 (Internal GPIO)
<gps_wakeup> 65535 (Not managed)
<host_wakeup> 65535 (Not managed)
<clock32k> 1
<appli_led> 65535 (Not managed)

Note: That configuration is fixed for AR6220-G Embedded Module.

6.3. Command +GPSSTOP

6.3.1. Description
This AT command stops the Location Services.
Please refer to the State Machine and AT Commands Calls Requirements for more information about
call state and transition mode.
OK is returned if the request has been processed. The final result will be sent to the associated event
through an unsolicited response after the action has been completed.
GPS Data are stored to NV memory during specific Location Services Application transitions. Please
refer to GPS data management for more information.

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6.3.2. Syntax
Action command
AT+GPSSTOP
OK

Test command
AT+GPSSTOP=?
OK

Unsolicited response
+GPSEVSTOP: <status>

6.3.3. Parameters and Defined Values

<status> Event status

0 The action has failed. Application state is unchanged.

1 The action has been successfully completed.

6.3.4. Examples
Command Responses

AT+GPSSTOP OK
+GPSEVSTOP: 1
or
+GPS ERROR: X
Note: For more information about X value, please refer to Location AT
commands error codes description.
AT+GPSSTOP=? OK

6.4. Command +GPSSLEEP

6.4.1. Description
This AT command puts the GPS receiver into the specified GPS sleep mode.
This command stops the GPS processing and put the GPS receiver in a low power mode. This
consumes slightly more power than complete off mode, but allows faster restarts when the GPS is

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restarted with the +GPSSTART command. Please refer to [2] for more details about the GPS sleep
modes.
OK is returned if the request has been processed. The final result will be sent to the associated event
through an unsolicited response after the action has been completed.
GPS Data are stored to NV memory during specific Location Services Application transitions. Please
refer to GPS data management for more information.
Please refer to the State Machine and AT Commands Calls Requirements for more information about
call state and transition mode.

Note: [] gpsOne: +GPSSLEEP AT command is supported but without effect on power consumption.

6.4.2. Syntax
Action command
AT+GPSSLEEP = [<sleep_mode>]
OK

Read command
AT+GPSSLEEP?
+GPSSLEEP:<sleep_mode>
OK

Test command
AT+GPSSLEEP=?
+GPSSLEEP: (list of supported <sleep_mode>s)
OK

Unsolicited response
+GPSEVSLEEP: <status>

6.4.3. Parameters and Defined Values

<sleep_mode>: GPS sleep mode
If omitted: last known value within current session. Please refer to Diagram for
settings management for more information.
Factory default value: 1.
5.

0 GPS Idle mode

6.

1 GPS Hibernate mode

7.

2 GPS Deep Sleep mode

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<status> Event status

0 The action has failed. Application state is unchanged.

1 The action has been successfully completed.

Note: [] For XM0110 and SiRFV: GPS 3D fix is needed to switch in IDLE mode. If 20 seconds after the
command was sent, if the GPS receiver has not been capable to switch to IDLE mode, the event
+GPSEVSLEEP: 0 will be received.

6.4.4. Examples
Command Responses

AT+GPSSLEEP OK
+GPSEVSLEEP: 1
or
+GPS ERROR: X
Note: For more information about X value, please refer to Location AT
commands error codes description.
AT+GPSSLEEP=? +GPSSLEEP: (0,2)
OK

6.5. Command +GPSTTFF

6.5.1. Description
This command reports the calculated TTFF (2-Dimensional Position Fix and 3-Dimensional Position
Fix) of the last run if no new run has started, an error if the current run has no fix yet, or the calculated
TTFF of this run if it has fixed.
Please refer to the State Machine and AT Commands Calls Requirements for more information about
call state and transition mode.

Note: 2D TTFF value can be equal to 3D TTFF value if 3-Dimensional Position is directly fixed. This is
subjected to GPS conditions.
Note: GPS_ERR_GPS_POS_NOT_FIXED (-30) is returned if the current run is not fixed.

6.5.2. Syntax
Read command
AT+GPSTTFF?
+GPSTTFF:<2D_time>,<3D_time>
OK

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Test command
AT+GPSTTFF=?
OK

6.5.3. Parameters and Defined Values

<2D_time>: 2-Dimensional Position Time To First Fix, defined in ms.

<3D_time>: 3-Dimensional Position Time To First Fix, defined in ms.

6.5.4. Examples
Command Responses

AT+GPSTTFF? +GPSTTFF: 32051,32051

OK
or
+GPS ERROR: X
Note: For more information about X value, please refer to Location AT
commands error codes description.
AT+GPSTTFF? +GPSTTFF: -30,-30
OK
Note: The current run is not fixed.

AT+GPSTTFF=? OK

6.6. Command +GPSRELEASE

6.6.1. Description
This AT Command releases the Location Services hardware and software resources.
OK is returned if the request has been processed. The final result will be sent to the associated event
through an unsolicited response after the action has been completed.
Please refer to the State Machine and AT Commands Calls Requirements for more information about
call state and transition mode.

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6.6.2. Syntax
Action command
AT+GPSRELEASE
OK

Test command
AT+GPSRELEASE=?
OK

Unsolicited response
+GPSEVRELEASE: <status>

6.6.3. Parameters and Defined Values

<status> Event status

0 The action has failed. Application state is unchanged.

1 The action has been successfully completed.

6.6.4. Examples
Command Responses

AT+GPSRELASE OK
+GPSEVRELEASE: 1
or
+GPS ERROR: X
Note: For more information about X value, please refer to Location AT
commands error codes description.
AT+GPSRELEASE=? OK

6.7. Command +GPSVERS

6.7.1. Description
This AT Command reports the Software Version of the Location AT command set.

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6.7.2. Syntax
Read command
AT+GPSVERS?
+GPSVERS:<version>
OK

Test command
AT+GPSVERS=?
OK

6.7.3. Parameters and Defined Values

<version>: Location Services version including:
 AT command set version
 Location Library version
 GPS receiver firmware and/or patch version

Note: [] gpsOne: GPS receiver firmware version is not provided.

6.7.4. Examples

Command Responses

AT+GPSVERS? +GPSVERS: “Location Services version string”

OK
or
+GPS ERROR: X
Note: For more information about X value, please refer to Location AT
commands error codes description.
AT+GPSVERS=? OK

6.8. Command +GPSCONF

6.8.1. Description
This AT command configures the Location service and GPS receiver.
Please refer to the State Machine and AT Commands Calls Requirements for more information about
call state and transition mode.

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6.8.2. Syntax
Action command
AT+GPSCONF= <config_type>,<config_value>
OK

Read command
AT+GPSCONF?
+GPSCONF: <config_type>,<config_value>
[+GPSCONF: <config_type>,<config_value>]
OK

Test command
AT+GPSCONF=?
+GPSCONF:<config_type>,(list of supported <config_value>s)
[+GPSCONF:<config_type>,(list of supported <config_value>s)]
OK

6.8.3. Parameters and Defined Values

<config_type>: This parameter specifies the configuration type on which the configuration value is
applied.

0 Sets GPS navigation low power modes. Reduces power consumption while in
GPS_RUNNING state without impacting update rate, but at the expense of GPS
accuracy degradation. Please refer to [2] for more details about the navigation low
power modes.

[] Not supported for gpsOne.

1 Sets the LNA type.

[] Not supported for gpsOne.

2 Specifies the GPS Aiding mode. Please refer to [3] for more details about the GPS
Aiding modes.

Caution: This configuration type is deprecated. Please refer to +GPSAID AT

command for aiding modes configuration.

3 Configures the host Wakeup software mechanism allowing the Location Library to
be compatible with the Embedded Module sleep mode.

[] Not supported for gpsOne.

4 Defines the banking time. This option is used only for debug purpose.

[] Not supported for gpsOne.

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5 Defines the targeted Reduced Rate GPS Navigation in seconds.

[] Not supported for gpsOne.

6 Defines Blanking configuration.

[] Not supported for gpsOne.

7 Defines CW Removal configuration.

[] Not supported for gpsOne.

8 Define if GPS feature is enabled.

[] Not supported for XM0110 and SiRFV

<config_value>: Requested value of configuration type.

For <config_type> = 0 If omitted: last known value within current session. Please refer to Diagram for
settings management for more information.
Factory default value: 0.

0: Full power navigation mode.

1: Medium power navigation mode.

2: Low power navigation mode.

3: Very low power navigation mode.

For <config_type> = 1 If omitted: last known value within current session. Please refer to Diagram for
settings management for more information.
Factory default value: 1.

0: Receive chain optimized for internal LNA, and GPS receiver LNA_EN output signal
is automatically driven.

1: Receive chain optimized for external LNA, and GPS receiver LNA_EN output signal
is automatically driven.

2: Receive chain optimized for internal LNA, and GPS receiver LNA_EN output signal
is always OFF.

3: Receive chain optimized for external LNA, and GPS receiver LNA_EN output signal
is always OFF.

For <config_type> = 2 If omitted: last known value within current session. Please refer to Diagram for
settings management for more information.
Factory default value: 0.

0: The Aiding mode is deactivated.

1: AEE (Autonomous Extended Ephemeris) activated.

For <config_type> = 3 If omitted: last known value within current session. Please refer to Diagram for
settings management for more information.
Factory default value: 0.

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0: The host Wakeup software mechanism is disabled.

1: The host Wakeup software mechanism is enabled.

For <config_type> = 4 Specifies the number of seconds to wait before disabling AEE calculation.
If omitted: last known value within current session. Please refer to Diagram for
settings management for more information.
Factory default value: -1.If -1, the banking time is not taken account.
If 0, the AEE calculation will be stopped immediately.

For <config_type> = 5 Defines the targeted Reduced Rate GPS Navigation in seconds. Please refer to [2]
for more information.
If omitted: last known value within current session. Please refer to Diagram for
settings management for more information.
Factory default value: 1.

For <config_type> = 6 Defines Blanking configuration.

If omitted: last known value within current session. Please refer to Diagram for
settings management for more information.
Factory default value: 0.

0: TX Blanking disabled.

1: TX Blanking activated.

For <config_type> = 7 Defines CW Removal configuration. Please refer to [6] for more information.

If omitted: last known value within current session. Please refer to Diagram for
settings management for more information.
Factory default value: 0.

0: CW Removal feature disabled

1: CW Removal feature enabled

For <config_type> = 8 Defines if GPS feature is enabled.

If omitted: last known value within current session. Please refer to Diagram for
settings management for more information. If value has been changed,
+GPSSAVE=1 AT Command must be send, and reset must be issued after using this
command.
Factory default value: 1.

Note: [] gpsOne: RESET must be issued after this option is configured.

0: GPS feature disabled

1: GPS feature enabled

Note: For <config_type>3 (host Wakeup software mechanism configuration), the host Wakeup external
interrupt input must be specified through the +GPSINIT AT command before the activation of this
option, otherwise the error GPS_ERR_SERVICE (-26) will be returned by the +GPSCONF AT
command.

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Note: For <config_type>=4, the value is applied at each +GPSSTART AT command. Therefore the
banking time is reinitialized for GPS_INITIALIZED & GPS_SLEEP state to GPS_RUNNING state
transition.
Note: For <config_type>=5, <config_value> defines the targeted Reduced Rate GPS Navigation. The
applied Rate GPS Navigation can be lower than targeted value in order to maintain best GPS
navigation conditions. Applied Rate GPS Navigation depends on GPS conditions and could be
changed automatically from minimum value (1 second) to targeted <config_value>. Please refer to
[2] for more information.
Note: For <config_type>=5, <config_value> impacts NMEA frames update rate specified by +GPSNMEA
AT command, PVT frames update rate specified by +GPSPVT AT command and Core information
update rate specified by +GPSCORE AT command as those options are based on this Reduced
Rate GPS Navigation. For example, if <config_value> is equal to 2, the NMEA frames update rate
and PVT frames update rate will be typically doubled.
Note: For <config_type>=6, the blanking is automatically disabled every time the state machine goes to
GPS_RUNNING.

Note: For <config_type>=7, for [] XM0110, the setting of CW removal is automatically disabled every
time the state machine goes to GPS_RUNNING. The user has to set it again a few seconds after
start event. This parameter is not restored by the +GPSSAVE AT Command.

6.8.4. Location service configuration restrictions

Some options cannot be configured while in GPS_RUNNING state, or in GPS_SLEEP state
depending on the GPS sleep mode. In this case, GPS_ERR_BAD_STATE is returned by the
+GPSCONF AT command.
Restrictions are listed in the table below: GPS_HIBERNATE_MODE

Option

GPS_INITIALIZED
GPS_IDLE_MODE
GPS_RUNNING

GPS_SLEEP /

GPS_SLEEP /

<config_type> = 0 (Nav mode) Allowed Allowed Allowed Allowed

<config_type> = 1 (LNA type) Not allowed Not allowed Allowed Allowed

<config_type> = 2 (Aiding
Not allowed Not allowed Allowed Allowed
mode)

<config_type> = 3 (Host
Not allowed Not allowed Allowed Allowed
wakeup)

<config_type> = 4 (Banking
Not allowed Not allowed Allowed Allowed
time)

<config_type> = 5 (Reduced
Allowed Allowed Allowed Allowed
Rate)

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GPS_HIBERNATE_MODE
Option

GPS_INITIALIZED
GPS_IDLE_MODE
GPS_RUNNING

GPS_SLEEP /

GPS_SLEEP /
<config_type> = 6 (Blanking) Allowed Allowed Allowed Allowed

<config_type> = 7 (CW
Allowed Not allowed Not allowed Not allowed
removal) for [] XM0110

<config_type> = 7 (CW
Allowed Allowed Allowed Allowed
removal) for [] SiRFV

<config_type> = 8 (GPS
Allowed Allowed Allowed Not allowed
enabled)

6.8.5. Examples
Responses for Responses for
Command
[  ] XM0110 and SiRFV [  ] gpsOne

AT+GPSCONF=0,0 OK OK
Note: request continuous navigation or or
mode.
+GPS ERROR: X +GPS ERROR: X
Note: For more information about X Note: For more information about X
value, please refer to Location AT value, please refer to Location AT
commands error codes description. commands error codes description.
AT+GPSCONF=? +GPSCONF: 0,(0-3)
+GPSCONF: 1,(0-1)
+GPSCONF: 2,(0-1)
+GPSCONF: 3,(0-1)
+GPSCONF: 8,(0-1)
+GPSCONF: 4,(0-FFFFFFFF)
OK
+GPSCONF: 5,(1-10)
+GPSCONF: 6,(0-1)
+GPSCONF: 7,(0-1)
OK

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Responses for Responses for

Command
[  ] XM0110 and SiRFV [  ] gpsOne

AT+GPSCONF? +GPSCONF: 0,0

Note: Allow to retrieve the current +GPSCONF: 1,1
default configuration.
+GPSCONF: 2,0
+GPSCONF: 3,0
+GPSCONF: 8,0
+GPSCONF: 4,-1
OK
+GPSCONF: 5,1
+GPSCONF: 6,0
+GPSCONF: 7,0
OK

6.9. Command +GPSDEBUG

6.9.1. Description
This AT command configures the debug mode and the output port of the debug data.
Please refer to the State Machine and AT Commands Calls Requirements for more information about
call state and transition mode.

Note: [] +GPSDEBUG AT command is not supported for gpsOne.

6.9.2. Syntax
Action command
AT+GPSDEBUG= <output>,<debug_data>
OK

Read command
AT+GPSDEBUG?
+GPSDEBUG: <output>,<debug_data>
OK

Test command
AT+GPSDEBUG=?
+GPSDEBUG: (list of supported <output>s),(list of supported <debug_data>s)
OK

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6.9.3. Parameters and Defined Values

<output>: This parameter specifies the port which is to be used by the application to transmit
the raw data. (Hexadecimal value entered without the prefix “0x”).
If omitted: last known value within current session. Please refer to Diagram for
settings management for more information.
Factory default value: 0.

0 Debug data output disabled.

1 Debug data output on UART 1.

2 Debug data output on UART 2.

3 Debug data output on USB.

5 Debug data frames output on UART 3.

0x1X CMUX virtual port, Logical ports over UART1 where 1 <= X <=4

0x2X CMUX virtual port, Logical ports over UART2 where 1 <= X <=4

0x5X CMUX virtual port, Logical ports over UART3 where 1 <= X <=4

<debug_data>: Debug mode configuration.

If omitted: last known value within current session. Please refer to Diagram for
settings management for more information.
Factory default value: 0.

0 Debug data disabled.

(1<<0) Raw data activated. The raw data are used only for GPS debug purpose.

(1<<1) Debug Core information activated. The debug core information is used only for
debug purposes.
Debug Core information is received through Developer Studio Trace level 2.

(1<<2) Test Mode information activated.

Note: Reserved for future use.

Note: Raw data output, due to its binary format, requires the use of the port in the exclusive online mode.
No AT command can be entered or received on same port The specified port (<output> parameter)
must then be different from the port which is to be used by the application to transmit the NMEA
frames (configured by the +GPSNMEA command).
Note: The production mode must be set to receive consistent Raw Data flow. Consequently, Raw Data
and Debug Core information (received through Developer Studio Trace level 2) cannot be received
simultaneously.

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6.9.4. Examples
Command Responses

AT+GPSDEBUG=3,1 OK
Note: request raw data output on port 3 (USB). or
+GPS ERROR: X
Note: For more information about X value, please refer to Location AT
commands error codes description.
AT+GPSDEBUG=3,0 OK
Note: disable raw data output. or
+GPS ERROR: X
Note: For more information about X value, please refer to Location AT
command error codes description.
AT+GPSDEBUG=0,2 OK

Note : Activates Debug Core Information on or

Developer Studio Traces.
+GPS ERROR: X
Note: For more information about X value, please refer to Location AT
command error codes description.

AT+GPSDEBUG=? +GPSDEBUG: (0-5,11-14,21-24,51-54),(0-7)

OK

AT+GPSDEBUG? +GPSDEBUG: 0,0

Note: Allow to retrieve the current default OK
configuration.

6.10. Command +GPSAID

6.10.1. Description of Aiding for XM0110 and SiRFV

This AT command activates and configures the Aiding modes. Please refer to [3] for more details
about the GPS Aiding modes.
Please refer to the State Machine and AT Commands Calls Requirements for more information about
call state and transition mode.

6.10.1.1. Autonomous Extended Ephemeris

AEE (Autonomous Extended Ephemeris) is a powerful feature available without any extra hardware,
connectivity or cost. If activated, the Autonomous Extended Ephemeris feature will automatically
compute the Extended Ephemeris for each newly received satellite Broadcast Ephemeris.
Please refer to [3] for more details about the GPS Aiding modes.
GPS Data are stored to NV memory during specific Location Services Application transition. Please
refer to GPS data management for more information.

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6.10.1.2. Downloaded Extended Ephemeris

DEE (Downloaded Extended Ephemeris) improves start-up GPS performance by employing Extended
Ephemeris data. The Extended Ephemeris data should be downloaded from an Extended Ephemeris
server and outlast a standard broadcast ephemeris.
Please refer to [3] for more details about the GPS Aiding modes.
The bearer should be managed through the Internet Application AT command interface. Please refer
to [4] for more information.
The communication socket is managed by Location Library. Related errors are returned by the
+GPSEVAID and +GPSEVAIDERROR events.
GPS Data are stored to NV memory during specific Location Services Application transition. Please
refer to GPS data management for more information.

6.10.2. Description of Aiding for gpsOne

This AT command activates and configures the Aiding modes.
Please refer to the State Machine and AT Commands Calls Requirements for more information about
call state and transition mode.

6.10.2.1. Foreword
Intention has been to limit as much as possible the Location Library GPS Aiding Service AT
commands changes while porting to gpsOne GPS solution. As a consequence some terminology
may not be as accurate as it could be when considering gpsOne iso XM010/SiRFV GPS solution. For
example, “Assistance data” or “Predicted Orbit data” would have been more appropriate than
Downloaded Extended Ephemeris as in gpsOne case those data are not only Ephemeris.

6.10.2.2. Downloaded Extended Ephemeris

DEE (Downloaded Extended Ephemeris) improves start-up GPS performance by employing Extended
Ephemeris data. The Extended Ephemeris data should be downloaded from an Extended Ephemeris
server and outlast a standard broadcast ephemeris.
gpsOne GPS solution supports DEE thru the gpsOne XTRA feature.
In order to compute a position XTRA requires 1°) XTRA servers that provide assistance data so called
XTRA data and 2°) the ability to acquire GPS satellites in order to compute a position (No Satellites
then NO Fix).

6.10.2.2.1. Server and Assistance data download

Three servers are provided (URLs set by default) so that the requests are load balanced. XTRA
Servers and XTRA data are fully hosted by QCT and provided as free service.
XTRA Data is downloaded using an http get as a binary file that must be injected into the gpsOne
GPS Engine.

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6.10.2.2.2. Both bearer and communication socket management are

encapsulated within Location Library. Assistance data validity
XTRA Data is valid for seven days.

6.10.2.2.3. Assisted GPS operation using gpsOneXTRA

gpsOneXTRA feature must be enabled on the device.
The assistance data is stored in the NV memory of Embedded Module for later use.
While the XTRA download/injection is in progress, the standalone fix will continue to be processed. If
the XTRA download/injection fails, the standalone fix in progress may still return successful if
satellites are acquired during the standalone search.

Note: []gpsOne – SL3010T: file system is used for gpsOneXTRA feature. When DEE is downloaded, a
file “xtra.bin” is created in \location folder. This file should not be removed as it is used in injection
process. For more information about the feature aiding on SL3010T, please confer to [9].

6.10.3. Syntax
 For <config_type> = 0

Action command
AT+GPSAID=<config_type>,<aee_mode>
OK
 For <config_type> = 1

Action command
AT+GPSAID=<config_type>,<dee_mode>[, [<dee_period>]
[,[<dee_server_address>] [,[<dee_server_port>]
[,[<dee_server_code>][,[<dee_socket_type>][,[<dee_timeout>]]]]]]]
OK
 For <config_type> = 2

Action command
AT+GPSAID=<config_type>,<dee_command>
OK
 For <config_type> = 3 and <dee_server_type>=1

Action command
AT+GPSAID=<config_type>,<dee_server_type>,<dee_secondary_server_addr
ess>,<dee_tertiary_server_address>
OK
 For <config_type> = 3 and <dee_server_type>=2

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Action command
AT+GPSAID=<config_type>,<dee_server_type>,<dee_primary_sntp_server_a
ddress>,<dee_secondary_sntp_server_address>,<dee_tertiary_sntp_serve
r_address>
OK

Read command
AT+GPSAID?
+GPSAID: 0,<aee_mode>
+GPSAID: 1,<dee_mode>,
<dee_period>,<dee_server_address>,<dee_server_port>,<dee_server_code>,<dee_
socket_type>,<dee_timeout>
+GPSAID: 2,<dee_command>
+GPSAID: 3,1,<dee_secondary_server_address>,<dee_tertiary_server_address>
+GPSAID:
3,2,<dee_primary_sntp_server_address>,<dee_secondary_sntp__server_address>,
<dee_tertiary_sntp_server_address>
OK

Test command
AT+GPSAID=?
+GPSAID: 0,(list of supported <aee_mode>s)
+GPSAID: 1,(list of supported <dee_mode>s),(list of supported
<dee_period>s),(list of supported <dee_server_address>s),(list of supported
<dee_server_port>s), (list of supported <dee_server_code>s),(list of
supported <dee_socket_type>s),(list of supported <dee_timeout>s)
+GPSAID: 2,(list of supported <dee_command>s)
+GPSAID: 3,1,(list of supported <dee_secondary_server_address>s),(list of
supported <dee_tertiary_server_address>s)
+GPSAID: 3,2,(list of supported <dee_primary_sntp__server_address>s),(list
of supported <dee_secondary_sntp_server_address>s),(list of supported
<dee_tertiary_sntp_server_address>s)
OK

6.10.4. Parameters and Defined Values

<config_type>: This parameter specifies the configuration type on which the configuration is applied.

0 AEE configuration.

1 DEE configuration.

2 DEE command.

3 DEE server addresses configuration.

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<aee_mode>: This parameter specifies the AEE (Autonomous Extended Ephemeris) mode.
If omitted: last known value within current session. Please refer to Diagram for
settings management for more information.
Factory default value: 0.

Note: [] AEE is not supported for gpsOne.

0: AEE is deactivated.

1: AEE is activated.

<dee_mode>: This parameter specifies the DEE (Downloaded Extended Ephemeris) mode.
If omitted: last known value within current session. Please refer to Diagram for
settings management for more information.
Factory default value: 0.

Note: [] gpsOne: RESET must be issued after this option is configured.

0: DEE is deactivated.

1: DEE is activated.

<dee_period> DEE period in day(s).

If omitted: last known value within current session. Please refer to Diagram for
settings management for more information.
[] XM0110 and SiRFV: Factory default value: 3.
[] gpsOne: Factory default value: 7.

Note: Note: Returns error “- 4” (GPS_ERR_NOT_AVAILABLE) if

requested value is not supported.

Range: 0-65535

<dee_server_address> DEE server address.

If omitted: last known value within current session. Please refer to Diagram for
settings management for more information.
[] XM0110 and SiRFV: Factory default value: “”.
[] gpsOne: Factory default value: “http://xtra1.gpsonextra.net/xtra.bin”.

Note: [] gpsOne: URL must be complete, including the “http://”.

Can be either a DNS address, or a numeric one in the form “xxx.xxx.xxx.xxx”.

Maximum 80 bytes string.

<dee_secondary_server DEE secondary server address.

_address>
If omitted: last known value within current session. Please refer to Diagram for
settings management for more information.
[] XM0110 and SiRFV: Factory default value: “”.
[] gpsOne: Factory default value: “http://xtra2.gpsonextra.net/xtra.bin”.

Note: [] XM0110 and SiRFV: parameter not supported.

Note: [] gpsOne: URL must be complete, including the “http://”.

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Can be either a DNS address, or a numeric one in the form “xxx.xxx.xxx.xxx”.

Maximum 80 bytes string.

<dee_tertiary_server_ad DEE tertiary server address.

dress>
If omitted: last known value within current session. Please refer to Diagram for
settings management for more information.
[] XM0110 and SiRFV: Factory default value: “”.
[] gpsOne: Factory default value: “http://xtra3.gpsonextra.net/xtra.bin”.

Note: [] XM0110 and SiRFV: parameter not supported.

Note: [] gpsOne: URL must be complete, including the “http://”.

Can be either a DNS address, or a numeric one in the form “xxx.xxx.xxx.xxx”.

Maximum 80 bytes string.

<dee_server_sntp_addre DEE SNTP server address.

ss>
If omitted: last known value within current session. Please refer to Diagram for
settings management for more information.
[] XM0110 and SiRFV: Factory default value: “”.
[] gpsOne: Factory default value: “xtra1.gpsonextra.net”.

Note: [] XM0110 and SiRFV: parameter not supported.

Can be either a DNS address, or a numeric one in the form “xxx.xxx.xxx.xxx”.

Maximum 80 bytes string.

<dee_secondary_sntp_s DEE secondary SNTP server address.

erver_address>
If omitted: last known value within current session. Please refer to Diagram for
settings management for more information.
[] XM0110 and SiRFV: Factory default value: “”.
[] gpsOne: Factory default value: “xtra2.gpsonextra.net”.

Note: [] XM0110 and SiRFV: parameter not supported.

Can be either a DNS address, or a numeric one in the form “xxx.xxx.xxx.xxx”.

Maximum 80 bytes string.

<dee_tertiary_sntp_serv DEE tertiary SNTP server address.

er_address>
If omitted: last known value within current session. Please refer to Diagram for
settings management for more information.
[] XM0110 and SiRFV: Factory default value: “”.
[] gpsOne: Factory default value: “xtra3.gpsonextra.net”.

Note: [] XM0110 and SiRFV: parameter not supported.

Can be either a DNS address, or a numeric one in the form “xxx.xxx.xxx.xxx”.

Maximum 80 bytes string.

<dee_server_port> Port of the DEE server socket to connect to.

If omitted: last known value within current session. Please refer to Diagram for

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settings management for more information.

Factory default value: 0.

Note: [] gpsOne: Not used. Read only parameter. Returns

GPS_ERR_NOT_AVAILABLE (- 4) error if option is configured.

Range: 0 – 65535

<dee_server_code> DEE access authorization code.

If omitted: last known value within current session. Please refer to Diagram for
settings management for more information.
Factory default value: “”.

Note: [] gpsOne: Not used. Read only parameter. Returns

GPS_ERR_NOT_AVAILABLE (- 4) error if option is configured.

DEE access authorization code in the form “XXXXXXXXXX”.

Maximum 80 bytes string.

<dee_socket_type> DEE communication socket type.

If omitted: last known value within current session. Please refer to Diagram for
settings management for more information.
Factory default value: “TCP”.

Note: [] gpsOne: Not used. Read only parameter. Returns

GPS_ERR_NOT_AVAILABLE (- 4) error if option is configured.

“TCP” for TCP communication socket.

Maximum 10 bytes string.

<dee_timeout> Socket connection timeout value in second(s).

If omitted: last known value within current session. Please refer to Diagram for
settings management for more information.
[] XM0110 and SiRFV factory default value: 10.
[] gpsOne factory default value: 30.
Range: 0 – 65535

<dee_command> DEE command number controlling the EE downloader.

If omitted: last known value within current session. Please refer to Diagram for
settings management for more information.
Factory default value: 0.

0: This command has no effect, but indicates that no command is pending.

1: This command requests EE file download.

2: This command stops EE download if any.

Note: [] gpsOne: That command is not implemented. EE download is

not aborted even if +GPSEVAID event indicating that EE download
is aborted will be received after that command.

3: This command forces EE file download. This command is used only for test
purpose.

Note: [] gpsOne: That command is not supported and result will be
similar to <dee_command>=1.

<dee_server_type>: This parameter specifies the DEE server type on which the configuration is
applied.

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Note: The main DEE server address is configured through the

<dee_server_address> parameter.

1: DEE Data Server(s)

2: DEE SNTP Server(s)

Note: If <dee_period> is not supported, the error GPS_ERR_INVALID_PARAMETER (-4) is returned. For
more information on DEE value range, please refer to [3].
Note: Before <dee_command> configuration, <dee_mode> should be activated

Note: [] XM0110 and SiRFV: Before <dee_command> configuration, <dee_server_xxxx> parameters
should be configured.
Note: <dee_command> = 1 allows DEE file update as described hereunder:
Note: <dee_command> is automatically configured to 0 when the DEE file is updated. If the command is
pending, for example in GPS_INITIALIZED state, the read of this parameter returns the last entered
DEE command.
Note: If a newer DEE file is available on DEE server, DEE file download is performed. Please refer to [3]
for more information about DEE validity. If no updated DEE file is available on the DEE server, DEE
file download is aborted. Consequently, the following event is received:

Note: [] XM0110 and SiRFV: +GPSEVAID event will be received informing that DEE download is
aborted with abort cause equal to GPS_AIDING_DEE_NACK_ERROR.

Note: [] gpsOne: +GPSEVAID event will be received informing that DEE download is aborted with abort
cause equal to GPS_AIDING_OK.
Note: Factory start (please refer to GPSSTART section) removes DEE file. To retrieve it, DEE file
download should be requested once again.

6.10.5. Aiding Service Configuration Restrictions

Some options cannot be configured while in some state(s). In this case, GPS_ERR_BAD_STATE is
returned by the +GPSAID AT command.
Restrictions are listed in the table below:
GPS_HIBERNATE_MODE

Option
GPS_IDLE_MODE
GPS_NITIALIZED

GPS_RUNNING

GPS_SLEEP /

GPS_SLEEP /

<config_type> = 0 (AEE configuration) Allowed Not allowed Not allowed Allowed

<config_type> = 1 (DEE configuration) Allowed Not allowed Not allowed Allowed

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GPS_HIBERNATE_MODE
Option

GPS_IDLE_MODE
GPS_NITIALIZED

GPS_RUNNING

GPS_SLEEP /

GPS_SLEEP /
[] For XM0110 and SiRFV:
Authorized (1) Allowed Allowed Authorized (1)
<config_type> = 2 (DEE command)

[] For gpsOne:

Allowed Allowed Allowed Allowed
<config_type> = 2 (DEE command)

[] For XM0110 and SiRFV: <config_type>

= 3 not supported.
Allowed Not allowed Not allowed Allowed
<config_type> = 3 (DEE server addresses
configuration)

(1) In this state that AT command is authorized but the configuration will become effective in “Allowed” state.

6.10.6. Examples
Command Responses

AT+GPSAID=0,1 OK
Note: activates the AEE mode. or
+GPS ERROR: X
Note: For more information about X value, please refer to Location AT commands error
codes description.
AT+GPSAID=1,1 OK
Note: activates the DEE mode. or
+GPS ERROR: X
Note: For more information about X value, please refer to
Location AT commands error codes description.
AT+GPSAID=2,1 OK
Note: requests EE file download. or
+GPS ERROR: X
Note: For more information about X value, please refer to
Location AT commands error codes description.

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Command Responses

AT+GPSAID=? +GPSAID: 0,(0-1)

+GPSAID: 1,(0-1),(0-65535),””,(0-65535),””,(“TCP”),(0-65535)
+GPSAID: 2,(0-2)
+GPSAID: 3,1,””,””
+GPSAID: 3,2,””,””,””
OK

AT+GPSAID? +GPSAID: 0,0

Note: Allow to retrieve the +GPSAID: 1,1,3,”ServerAddress”,0,”ServerAuthCode”,TCP,10
current configuration.
+GPSAID: 2,0
+GPSAID: 3,1,”SecondaryServerAddress”,
”TertiaryServerAddress”
+GPSAID:
3,2,”PrimarySntpServerAddress”,”SecondarySntpServerAddress”,
”TertiarySntpServerAddress”
OK
Note: Example, values depending on GPS receiver type.

6.10.7. Examples of AT Command Sequence

6.10.7.1. XM0110 and SiRFV Aiding AT Command Sequence

6.10.7.1.1. From GPS_INITIALIZED state

For more information regarding “Authorized” state(s), please refer to Aiding Service Configuration
Restrictions.
AT+GPSINIT=11
OK

+GPSEVINIT: 1

AT+GPSNMEA=0
OK

AT+GPSAID=2,1
OK

AT+GPSSTART=3
OK

+GPSEVAID: 1,1

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+GPSEVSTART: 1

+GPSEVPOS: 0

+GPSEVAID: 1,2

+GPSEVPOS: 2

+GPSEVPOS: 3

+GPSEVAID: 1,4,3720
…

6.10.7.1.2. From GPS_RUNNING state

For more information regarding “Allowed” state(s), please refer to Aiding Service Configuration
Restrictions.
AT+GPSINIT=11
OK

+GPSEVINIT: 1

AT+GPSNMEA=0
OK

AT+GPSSTART=3
OK

+GPSEVSTART: 1

+GPSEVPOS: 0

AT+GPSAID=2,1
OK

+GPSEVAID: 1,1

+GPSEVAID: 1,2

+GPSEVPOS: 2

+GPSEVPOS: 3

+GPSEVAID: 1,4,3720
…

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6.10.7.2. gpsOne Aiding AT Command Sequence

AT+GPSSAVE=0 /* reset the whole of gps settings */

AT+CFUN=1 or HW reset

AT+GPSINIT=2

+GPSEVINIT: 1

AT+GPSAID=1,1

AT+GPSSAVE=1 /* save gps settings */

AT+CFUN=1 (or HW reset)

/* GPRS bearer Configuration / Activation */

AT+GPSAID=2,1

+GPSEVAID: 1,2

+GPSEVAID: 1,4,1,yy/MM/dd,hh:mm:ss,yy/MM/dd,hh:mm:ss

AT+GPSSTART=3
OK

+GPSEVSTART: 1

+GPSEVPOS: 0

+GPSEVPOS: 3
…

6.11. Command +GPSCORE

6.11.1. Description
This AT command configures core information mode and the output port of the core information.
Please refer to the State Machine and AT Commands Calls Requirements for more information about
call state and transition mode.

Note: [] +GPSCORE AT command is not supported for gpsOne.

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6.11.2. Syntax
Action command
AT+GPSCORE=[<output>][,[<rate>][,<core_info>]]
OK

Read command
AT+GPSCORE?
+GPSCORE: <output>,<rate>,<core_info>
OK

Test command
AT+GPSCORE=?
+GPSCORE: (list of supported <output>s) ,(list of supported <rate>s)
,(list of supported <core_info>s)
OK

6.11.3. Parameters and Defined Values

<output>: This parameter specifies the port to be used by the application to transmit the core
information. (Hexadecimal value entered without the prefix “0x”).
If omitted: last known value within current session. Please refer to Diagram for
settings management for more information.
Factory default value: 0.

0 Core information output disabled.

1 Core information output on UART 1.

2 Core information output on UART 2.

3 Core information output on USB.

4 Core information output on port where the +GPSCORE command was received.

5 Core information frames output on UART 3.

0x1X CMUX virtual port, Logical ports over UART1 where 1 <= X <=4

0x2X CMUX virtual port, Logical ports over UART2 where 1 <= X <=4

0x5X CMUX virtual port, Logical ports over UART3 where 1 <= X <=4

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<rate>: This parameter defines the core information update rate in seconds.
If omitted: last known value within current session. Please refer to Diagram for
settings management for more information.
Factory default value: 1.
Range: 0-65535

Note: If this parameter equals 0, the core information frames will be sent
only once, on the next occurrence of the core information frames
update.
Note: This parameter is impacted by the Reduced Rate GPS Navigation.
Please refer to +GPSCONF AT command for more information.

<core info>: Core information list encode mask. Hexadecimal value entered without the prefix
“0x”.
If omitted: last known value within current session. Please refer to Diagram for
settings management for more information.
Factory default value: 0.

(0<<0): Core information data output disabled.

(1<<0): Information about jammers detection activated.

[]< rate> parameter for this <core info> has no effect on SiRFV.

Note: Core information is received through +GPSEVCORE asynchronous event. Please refer to
Asynchronous Events for more information.

6.11.4. Examples
Command Responses

AT+GPSCORE=1,1,1 OK
Note: request jammers detection information or
output on port 1.
+GPS ERROR: X
Note: For more information about X value, please refer to Location AT
commands error codes description.
AT+GPSCORE=1,1,0 OK
Note: disable core information output. or
+GPS ERROR: X
Note: For more information about X value, please refer to Location AT
command error codes description.
AT+GPSCORE=? +GPSCORE: (0-5,11-14,21-24,51-54),(1-65535),(0-
1)
OK

AT+GPSCORE? +GPSCORE: 0,1,0

Note: Allow to retrieve the current default OK
configuration.

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6.11.5. Examples of AT Command Sequence

AT+GPSINIT=11

OK

+GPSEVINIT: 1

AT+GPSNMEA=0

OK

AT+GPSCORE=1,1,1

OK

AT+GPSSTART=3
OK

+GPSEVSTART: 1

+GPSEVPOS: 0

+GPSEVCORE: 0,0000,00,0000,00,0000,00,0000,00,0000,00,0000,00,0000,00,1575,65

+GPSEVCORE: 0,1575,77,0000,00,0000,00,0000,00,0000,00,0000,00,0000,00,0000,00

+GPSEVCORE: 0,1575,76,0000,00,0000,00,0000,00,0000,00,0000,00,0000,00,0000,00

+GPSEVCORE: 1,602,73,0000,00,0000,00,0000,00,0000,00,0000,00,0000,00,0000,00

Note: [] +GPSEVCORE event with GLONASS information is only available on SiRFV

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 7. Asynchronous Events
The asynchronous events inform about Location Services events.

7.1. Description
The following asynchronous events can be received as unsolicited responses:
+GPSEVABORT: Following error detection, the Location Services are aborted and the application is
stopped. After this event the application state is automatically changed to GPS_INITIALIZED.
+GPSEVERROR: An error has been detected. Please refer to Location AT commands error codes for
more details.
+GPSEVAID: Describes Aiding events and related information.
+GPSEVAIDERROR: An error has been detected for Aiding modes. Please refer to Aiding Event
Error Codes for more details.
The others events are associated to the following AT Commands described in this document:
+GPSINIT, +GPSSTART, +GPSSTOP, +GPSSLEEP and +GPSRELEASE.

7.2. Syntax
Unsolicited response
+GPSEVPOS: <pos_event>

Unsolicited response
+GPSEVABORT: <abort_cause>

Unsolicited response
+GPSEVERROR: <error>,<ext_error>

Unsolicited response
+GPSEVINIT: <status>

Unsolicited response
+GPSEVSTART: <status>

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Unsolicited response
+GPSEVSTOP: <status>

Unsolicited response
+GPSEVSLEEP: <status>

Unsolicited response
+GPSEVRELEASE: <status>

Unsolicited response
+GPSEVAID: <aid_mode>,<aid_event>

 For <aid_mode> = 0 and <aid_event> = 2

Unsolicited response
+GPSEVAID: <aid_mode>,<aid_event>,<aee_svid>,<aee_svValidity>

 For <aid_mode> = 1 and <aid_event> = 3

Unsolicited response
+GPSEVAID: <aid_mode>,<aid_event>,<dee_abort_cause>

 For <aid_mode> = 1 and <aid_event> = 4 and <dee_validity_format> = 0

Unsolicited response
+GPSEVAID:
<aid_mode>,<aid_event>,<dee_validity_format>,<dee_validity_duration>

 For <aid_mode> = 1 and <aid_event> = 4 and <dee_validity_format> = 1

Unsolicited response
+GPSEVAID:
<aid_mode>,<aid_event>,<dee_validity_format>,<dee_validity_start>,<dee_vali
dity_end>

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Unsolicited response
+GPSEVAIDERROR: <aid_error>,<aid_ext_error>

 For <core_info> = 0

Unsolicited response
+GPSEVCORE:
<core_info>,<jam_freq_1>,<jam_lev_1>,<jam_freq_2>,<jam_lev_2>,<jam_freq_3>,
<jam_lev_3>,<jam_freq_4>,<jam_lev_4>,<jam_freq_5>,<jam_lev_5>,<jam_freq_6>,
<jam_lev_6>,<jam_freq_7>,<jam_lev_7>,<jam_freq_8>,<jam_lev_8>

Note: [] +GPSEVCORE event is not supported for gpsOne.

7.3. Parameters and Defined Values

<error> Error number (Please refer to Location AT Application error codes)

<ext_error> Extended error code depending on <error> parameter.

This field is equal to 0 if no extended error code is available.

<pos_event>

0 The GPS fix position has been detected lost.

1 GPS fix state has been changed to estimated (i.e. forward predicted) Position.

2 GPS fix state has been changed to 2-Dimensional Position.

3 GPS fix state has been changed to 3-Dimensional Position.

4 GPS fix state has been changed to invalid Position.

<abort_cause> Error number (Please refer to Location AT Application error codes)

<status> Event status

0 The action has failed. Application state is unchanged.

1 The action has been successfully completed.

<aid_mode> GPS Aiding mode

0 Autonomous Extended Ephemeris

Note: [] AEE is not supported for gpsOne.

1 Downloaded Extended Ephemeris

<aid_event>

For <aid_mode>=0

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0 AEE calculation is stopped

1 AEE calculation is started

2 AEE information

For <aid_mode>=1

0 DEE is stopped

1 DEE is started

2 DEE is valid

3 DEE is aborted

4 DEE Validity information

<aee_svid> Satellites Identifier of the last calculated Autonomous Extended Ephemeris

<aee_svValidity> AEE validity in minutes.

<aid_error> Error number (Please refer to Aiding event error codes).

<aid_ext_error> Extended error code depending on <aid_error> parameter.

This field is equal to 0 if no extended error code is available.
For <aid_error> = -10 (GPS_AIDING_DEE_SOCKET_ERROR), the extended
error code parameter returns the related Internet Library socket error code.
Please refer to [5] for more information about wip_error_t type.

<dee_validity_format> Defines DEE validity format indicated by <dee_validity_duration> or

<dee_validity_start> / <dee_validity_end> fields.

0 DEE Validity indicated in minutes through <dee_validity_duration> field.

Note: [] Value is not supported for gpsOne.

1 DEE Validity indicated with <dee_validity_start> and <dee_validity_end>

timestamps.

Note: [] Value is not supported for XM0110 and SiRFV.

<dee_validity_duration> DEE validity in minutes.

Note: [] XM0110: That information is available if the DEE is valid and
if GPS position is known.
Note: Available for <dee_validity_format> = 0.

<dee_validity_start> DEE Validity UTC Start timestamp with the format “yy/MM/dd,hh:mm:ss”.

Note: Available for <dee_validity_format> = 1.

<dee_validity_end> DEE Validity UTC End timestamp with the format “yy/MM/dd,hh:mm:ss”.

Note: Available for <dee_validity_format> = 1.

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<dee_abort_cause> DEE abort cause (Please refer to Aiding event error codes).

<core_info> Defines the core information data output.

0 Jammers detection event providing the presence of a maximum of 8

interferences detected as a result of the most recent CW scan or monitor.

Note: This event is received by the application depending on jammer(s)

detection.

<jam_freq_x> Frequency of peak “x” in MHz with 1 ≤ x ≤ 8.

<jam_lev_x> Signal to Noise of peak “x” in dB-Hz with 1 ≤ x ≤ 8.

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 8. Location AT Commands Error
Codes
The following error codes could be returned from Location AT commands.

Table 2. Location AT commands error codes

Error Error name Description

Code

-1 GPS_ERR_BAD_STATE The function has been called in an unauthorized

application state
-2 GPS_ERR_STATE_ALREADY The requested action has been already performed and the
target application state is currently activated.
-3 GPS_ERR_INVALID_PARAMETER Invalid input parameter.
-4 GPS_ERR_NOT_AVAILABLE This feature or configuration is not available for software
and/or hardware version.
-5 GPS_ERR_STATE_TRANSITION A state transition is in progress.
-10 GPS_ERR_PORTING_LAYER_INIT The initialization of the porting layer failed (Internal error)
-11 GPS_ERR_INIT Application initialization error
-12 GPS_ERR_IO_INIT IO initialization error
-13 GPS_ERR_BUS_INIT Bus initialization error
-14 GPS_ERR_SCHED_INIT Scheduler initialization error
-15 GPS_ERR_CORE_INIT Application core software initialization error
-16 GPS_ERR_NV_MEMORY_INIT Non-Volatile memory initialization error
-20 GPS_ERR_SCHED_TASK Application task schedule error.
-21 GPS_ERR_BUS Bus error
-22 GPS_ERR_IO_MNGT IO management error
-23 GPS_ERR_CORE_LIB Application core software error
-24 GPS_ERR_NV_DATA_ACCESS Non-Volatile store media (Embedded Module FLASH
memory) access error for the GPS Non-Volatile data.
-25 GPS_ERR_INTERNAL Internal error.
-26 GPS_ERR_SERVICE The asked service is not performed.
-27 GPS_ERR_TIMEOUT Timeout error.
-30 GPS_ERR_GPS_POS_NOT_FIXED The current run is not fixed
-40 GPS_ERR_ABORT_INTERNAL Internal abort.
-41 GPS_ERR_ABORT_NMEA NMEA update rate Watchdog.
-42 GPS_ERR_ABORT_RESET Reset Watchdog.
-60 GPS_AT_ERR_INTERNAL Application internal error.
-61 GPS_AT_ERR_INVALID_PARAMETER Application invalid input parameter.
-62 GPS_AT_ERR_FLASH_DATA_ACCESS Application Flash access error.
-63 GPS_AT_ERR_PORT Application port configuration error.
-64 GPS_AT_ERR_APPLI_LED Application Led management error.
-65 GPS_AT_ERR_SCHED_TASK Application task schedule error.

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 9. Aiding Event Error Codes
The following error codes could be returned from Aiding Event.

Table 3. Aiding event Error Codes

Error Error name Description

Code

0 GPS_AIDING_OK No error has been detected.

-1 GPS_AIDING_AEE_ERROR AEE error has been detected.
-10 GPS_AIDING_DEE_SOCKET_ERROR Error from communication socket.
-11 GPS_AIDING_DEE_WRITE_ERROR Write error from DEE downloader.
-12 GPS_AIDING_DEE_READ_ERROR Read error from DEE downloader.
-13 GPS_AIDING_DEE_SERVER_ERROR DEE server error.
-14 GPS_AIDING_DEE_FILE_ERROR DEE file format error.
-15 GPS_AIDING_DEE_TIMEOUT_ERROR DEE timeout error.
The update of DEE file is rejected by the
-16 GPS_AIDING_DEE_NACK_ERROR
Location Library.
-17 GPS_AIDING_DEE_ACK_TIMEOUT_ERROR The DEE file acknowledgment is not received.
-18 GPS_AIDING_DEE_INTERNAL_ERROR DEE internal error has been detected.

Note: The GPS_AIDING_DEE_NACK_ERROR error is received if no updated file is available on the DEE
server. The download procedure is indeed stopped if the DDE file previously downloaded and
stored to the Non-Volatile Store media (Embedded Module FLASH memory) is identical to the
available DEE file from the DEE server. Please refer to [3] for more information.

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 Index
+GPSAID, 64
+GPSCONF, 56
+GPSCORE, 75
+GPSDEBUG, 62
+GPSHELP, 29
+GPSINIT, 45
+GPSNMEA, 30
+GPSPVT, 34
+GPSRELEASE, 54
+GPSSAVE, 39
+GPSSLEEP, 51
+GPSSTART, 41
+GPSSTATE, 44
+GPSSTOP, 50
+GPSTTFF, 53
+GPSVERS, 55

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