# AT Commands Reference Guide

## Overview

This document provides detailed information about AT commands for controlling the H11hw GNSS RTK device via Bluetooth. All commands follow the format `AT+COMMAND=ACTION` where ACTION is either `SET` or `GET`.

**Response Format:**
- Success: `AT+COMMAND=ACTION\r\nOK\r\n`
- Error: `AT+COMMAND=ACTION\r\nERROR\r\n`

---

## 1. APN Configuration

Configure the APN (Access Point Name) for cellular network connection.

### AT+APN=SET

**Description:** Set APN parameters for 4G/LTE network connection.

**Format:**
```
AT+APN=SET,<flag>,<apn>,<username>,<password>\r\n
```

**Parameters:**
- `flag`: Enable/disable custom APN
  - `0` = Use default APN (automatic)
  - `1` = Use custom APN
- `apn`: APN name (string, max 64 chars)
- `username`: APN username (string, max 32 chars, optional)
- `password`: APN password (string, max 32 chars, optional)

**Examples:**
```
AT+APN=SET,0\r\n
AT+APN=SET,1,internet.v6.telekom,telekom,tm\r\n
AT+APN=SET,1,cmnet\r\n
```

**Response:**
```
AT+APN=SET
OK
```

### AT+APN=GET

**Description:** Query current APN configuration.

**Format:**
```
AT+APN=GET\r\n
```

**Response:**
```
AT+APN=GET,<flag>,<apn>,<username>,<password>
OK
```

**Example:**
```
AT+APN=GET,1,internet.v6.telekom,telekom,tm
OK
```

---

## 2. OLED Display Rotation

Control the OLED screen orientation.

### AT+OLEDROTATE=SET

**Description:** Set OLED display rotation angle.

**Format:**
```
AT+OLEDROTATE=SET,<angle>\r\n
```

**Parameters:**
- `angle`: Rotation angle in degrees
  - `0` = Normal (0°)
  - `1` = Rotated 180°

**Examples:**
```
AT+OLEDROTATE=SET,0\r\n
AT+OLEDROTATE=SET,1\r\n
```

**Response:**
```
AT+OLEDROTATE=SET
OK
```

### AT+OLEDROTATE=GET

**Description:** Query current OLED rotation setting.

**Format:**
```
AT+OLEDROTATE=GET\r\n
```

**Response:**
```
AT+OLEDROTATE=GET,<angle>
OK
```

---

## 3. Bluetooth Output Configuration

Configure which NMEA sentences and custom messages are output via Bluetooth.

### AT+BT_OUT=SET

**Description:** Configure Bluetooth data output format and content.

**Format:**
```
AT+BT_OUT=SET,<type>,<json>,<gnpos>,<gndev>,<gga>,<gst>,<rmc>,<vtg>,<gsv>,<gsa>\r\n
```

**Parameters:**
- `type`: Output mode
  - `0` = Standard mode (output all raw GNSS data)
  - `1` = Custom mode (selective output based on following parameters)
- `json`: Output JSON format position data (0=disable, 1=enable)
- `gnpos`: Output custom GNPOS sentence (0=disable, 1=enable)
- `gndev`: Output custom GNDEV sentence (0=disable, 1=enable)
- `gga`: Output NMEA GGA sentence (0=disable, 1=enable)
- `gst`: Output NMEA GST sentence (0=disable, 1=enable)
- `rmc`: Output NMEA RMC sentence (0=disable, 1=enable)
- `vtg`: Output NMEA VTG sentence (0=disable, 1=enable)
- `gsv`: Output NMEA GSV sentence (0=disable, 1=enable)
- `gsa`: Output NMEA GSA sentence (0=disable, 1=enable)

**Examples:**
```
AT+BT_OUT=SET,0\r\n
AT+BT_OUT=SET,1,1,1,1,1,1,1,1,1,1\r\n
AT+BT_OUT=SET,1,0,1,1,1,0,0,0,0,0\r\n
AT+BT_OUT=SET,1,,,,1,1,1,1\r\n
```

**Notes:**
- Empty parameters retain previous values
- When `type=0`, all other parameters are ignored
- When `type=1`, you can selectively enable/disable each output

**Response:**
```
AT+BT_OUT=SET
OK
```

### AT+BT_OUT=GET

**Description:** Query current Bluetooth output configuration.

**Format:**
```
AT+BT_OUT=GET\r\n
```

**Response:**
```
AT+BT_OUT=GET,<type>,<json>,<gnpos>,<gndev>,<gga>,<gst>,<rmc>,<vtg>,<gsv>,<gsa>
OK
```

---

## 4. Data Upload Configuration

Configure network data upload parameters (TCP/HTTP/MQTT).

### AT+UPLOADDATA_PARM=SET

**Description:** Set data upload server parameters.

**Format:**
```
AT+UPLOADDATA_PARM=SET,<enable>,<server>,<port>\r\n
```

**Parameters:**
- `enable`: Enable/disable data upload
  - `0` = Disable
  - `1` = Enable
- `server`: Server address (IP or domain name, max 128 chars)
- `port`: Server port number (1-65535)

**Examples:**
```
AT+UPLOADDATA_PARM=SET,0\r\n
AT+UPLOADDATA_PARM=SET,1,192.168.0.1,2202\r\n
AT+UPLOADDATA_PARM=SET,1,data.example.com,8080\r\n
```

**Response:**
```
AT+UPLOADDATA_PARM=SET
OK
```

### AT+UPLOADDATA_PARM=GET

**Description:** Query data upload server configuration.

**Format:**
```
AT+UPLOADDATA_PARM=GET\r\n
```

**Response:**
```
AT+UPLOADDATA_PARM=GET,<enable>,<server>,<port>
OK
```

---

## 5. Data Upload Type Configuration

Configure upload protocol and authentication.

### AT+UPLOADDATA_TYPE=SET

**Description:** Set upload protocol type and credentials.

**Format:**
```
AT+UPLOADDATA_TYPE=SET,<type>,USERNAME,<username>,PASSWORD,<password>\r\n
```

**Parameters:**
- `type`: Upload protocol type
  - `0` = TCP
  - `1` = HTTP
  - `2` = MQTT
- `username`: Authentication username (required for MQTT)
- `password`: Authentication password (required for MQTT)

**Examples:**
```
AT+UPLOADDATA_TYPE=SET,0\r\n
AT+UPLOADDATA_TYPE=SET,1\r\n
AT+UPLOADDATA_TYPE=SET,2,USERNAME,user11,PASSWORD,password11\r\n
```

**Response:**
```
AT+UPLOADDATA_TYPE=SET
OK
```

### AT+UPLOADDATA_TYPE=GET

**Description:** Query upload protocol configuration.

**Format:**
```
AT+UPLOADDATA_TYPE=GET\r\n
```

**Response:**
```
AT+UPLOADDATA_TYPE=GET,<type>,<username>,<password>
OK
```

---

## 6. Rover Mode Configuration

Configure NTRIP client parameters for RTK rover mode.

### AT+ROVER_PARM=SET

**Description:** Set NTRIP/CORS server parameters for receiving RTK corrections.

**Format:**
```
AT+ROVER_PARM=SET,<enable>,<server>,<port>,<mountpoint>,<username>,<password>\r\n
```

**Parameters:**
- `enable`: Enable/disable NTRIP client
  - `0` = Disable
  - `1` = Enable
- `server`: NTRIP server address (IP or domain name)
- `port`: NTRIP server port (typically 2101 or 2102)
- `mountpoint`: NTRIP mountpoint name
- `username`: NTRIP authentication username
- `password`: NTRIP authentication password

**Examples:**
```
AT+ROVER_PARM=SET,0\r\n
AT+ROVER_PARM=SET,1,211.144.118.5,2102,RTCM32,username,password\r\n
AT+ROVER_PARM=SET,1,sh.mijiatech.cn,2102,22C018,zd,zd\r\n
```

**Response:**
```
AT+ROVER_PARM=SET
OK
```

### AT+ROVER_PARM=GET

**Description:** Query NTRIP client configuration.

**Format:**
```
AT+ROVER_PARM=GET\r\n
```

**Response:**
```
AT+ROVER_PARM=GET,<enable>,<server>,<port>,<mountpoint>,<username>,<password>
OK
```

---

## 7. Base Station Mode Configuration

Configure base station parameters for outputting RTK corrections.

### AT+BASE_PARM=SET

**Description:** Set base station mode parameters.

**Format (Mode 0 - Disable):**
```
AT+BASE_PARM=SET,0\r\n
```

**Format (Mode 1 - TCP Server):**
```
AT+BASE_PARM=SET,1,<server>,<port>\r\n
```

**Format (Mode 2 - NTRIP Caster):**
```
AT+BASE_PARM=SET,2,<server>,<port>,<mountpoint>,<username>,<password>\r\n
```

**Parameters:**
- Mode `0`: Disable base station mode
- Mode `1`: TCP server mode
  - `server`: Server address to send RTCM data
  - `port`: Server port
- Mode `2`: NTRIP caster mode
  - `server`: NTRIP caster address
  - `port`: NTRIP caster port
  - `mountpoint`: Mountpoint name
  - `username`: Authentication username
  - `password`: Authentication password

**Examples:**
```
AT+BASE_PARM=SET,0\r\n
AT+BASE_PARM=SET,1,192.168.1.100,2102\r\n
AT+BASE_PARM=SET,2,sh.mijiatech.cn,2102,RTCM32-1,zd,zd\r\n
```

**Response:**
```
AT+BASE_PARM=SET
OK
```

### AT+BASE_PARM=GET

**Description:** Query base station configuration.

**Format:**
```
AT+BASE_PARM=GET\r\n
```

**Response (Mode 0):**
```
AT+BASE_PARM=GET,0
OK
```

**Response (Mode 1):**
```
AT+BASE_PARM=GET,1,<server>,<port>
OK
```

**Response (Mode 2):**
```
AT+BASE_PARM=GET,2,<server>,<port>,<mountpoint>,<username>,<password>
OK
```

---

## 8. GNSS Mode Configuration

Configure device operating mode (Rover/Base/Static).

### AT+GNSS_MODE=SET

**Description:** Set GNSS operating mode.

**Format:**
```
AT+GNSS_MODE=SET,<mode>\r\n
```

**Parameters:**
- `mode`: Operating mode
  - `0` = Rover mode (mobile RTK positioning)
  - `1` = Base station mode (output RTK corrections)
  - `2` = Static mode (stationary positioning)

**Examples:**
```
AT+GNSS_MODE=SET,0\r\n
AT+GNSS_MODE=SET,1\r\n
AT+GNSS_MODE=SET,2\r\n
```

**Response:**
```
AT+GNSS_MODE=SET
OK
```

**Notes:**
- Changing mode may require device restart
- Base mode requires fixed position configuration
- Rover mode requires NTRIP configuration for RTK

### AT+GNSS_MODE=GET

**Description:** Query current GNSS operating mode.

**Format:**
```
AT+GNSS_MODE=GET\r\n
```

**Response:**
```
AT+GNSS_MODE=GET,<mode>
OK
```

**Example:**
```
AT+GNSS_MODE=GET,0
OK
```

---

## Command Summary Table

| Command | SET | GET | Description |
|---------|-----|-----|-------------|
| AT+APN | ✓ | ✓ | Configure cellular APN |
| AT+OLEDROTATE | ✓ | ✓ | Set display rotation |
| AT+BT_OUT | ✓ | ✓ | Configure Bluetooth output |
| AT+UPLOADDATA_PARM | ✓ | ✓ | Set upload server |
| AT+UPLOADDATA_TYPE | ✓ | ✓ | Set upload protocol |
| AT+ROVER_PARM | ✓ | ✓ | Configure NTRIP client |
| AT+BASE_PARM | ✓ | ✓ | Configure base station |
| AT+GNSS_MODE | ✓ | ✓ | Set operating mode |

---

## Common Usage Scenarios

### Scenario 1: Configure Rover Mode for RTK Positioning

```
AT+GNSS_MODE=SET,0\r\n
AT+ROVER_PARM=SET,1,rtk.server.com,2101,MOUNT01,user,pass\r\n
AT+BT_OUT=SET,1,0,1,1,1,1,0,0,0,0\r\n
```

### Scenario 2: Configure Base Station Mode

```
AT+GNSS_MODE=SET,1\r\n
AT+BASE_PARM=SET,2,caster.server.com,2101,BASE01,user,pass\r\n
```

### Scenario 3: Enable All NMEA Output via Bluetooth

```
AT+BT_OUT=SET,1,0,1,1,1,1,1,1,1,1\r\n
```

### Scenario 4: Configure Custom APN

```
AT+APN=SET,1,internet,username,password\r\n
```

---

## Error Handling

**Common Error Responses:**
- `ERROR` - Invalid command format or parameters
- No response - Command timeout (check Bluetooth connection)

**Troubleshooting:**
1. Ensure commands end with `\r\n`
2. Check parameter count and format
3. Verify Bluetooth connection is active
4. Wait for response before sending next command

---

## Notes

- All commands are case-sensitive
- Commands must end with `\r\n` (carriage return + line feed)
- String parameters should not contain commas
- Empty parameters in SET commands retain previous values
- Configuration changes are saved to flash memory automatically
- Some changes may require device restart to take effect

---

**Document Version:** 1.0  
**Firmware Version:** 1.2.37  
**Last Updated:** 2026-05-07