545 lines
10 KiB
Markdown
545 lines
10 KiB
Markdown
# AT Commands Reference Guide
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## Overview
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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`.
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**Response Format:**
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- Success: `AT+COMMAND=ACTION\r\nOK\r\n`
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- Error: `AT+COMMAND=ACTION\r\nERROR\r\n`
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---
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## 1. APN Configuration
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Configure the APN (Access Point Name) for cellular network connection.
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### AT+APN=SET
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**Description:** Set APN parameters for 4G/LTE network connection.
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**Format:**
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```
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AT+APN=SET,<flag>,<apn>,<username>,<password>\r\n
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```
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**Parameters:**
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- `flag`: Enable/disable custom APN
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- `0` = Use default APN (automatic)
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- `1` = Use custom APN
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- `apn`: APN name (string, max 64 chars)
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- `username`: APN username (string, max 32 chars, optional)
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- `password`: APN password (string, max 32 chars, optional)
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**Examples:**
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```
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AT+APN=SET,0\r\n
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AT+APN=SET,1,internet.v6.telekom,telekom,tm\r\n
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AT+APN=SET,1,cmnet\r\n
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```
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**Response:**
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```
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AT+APN=SET
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OK
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```
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### AT+APN=GET
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**Description:** Query current APN configuration.
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**Format:**
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```
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AT+APN=GET\r\n
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```
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**Response:**
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```
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AT+APN=GET,<flag>,<apn>,<username>,<password>
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OK
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```
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**Example:**
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```
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AT+APN=GET,1,internet.v6.telekom,telekom,tm
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OK
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```
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---
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## 2. OLED Display Rotation
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Control the OLED screen orientation.
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### AT+OLEDROTATE=SET
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**Description:** Set OLED display rotation angle.
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**Format:**
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```
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AT+OLEDROTATE=SET,<angle>\r\n
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```
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**Parameters:**
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- `angle`: Rotation angle in degrees
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- `0` = Normal (0°)
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- `1` = Rotated 180°
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**Examples:**
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```
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AT+OLEDROTATE=SET,0\r\n
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AT+OLEDROTATE=SET,1\r\n
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```
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**Response:**
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```
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AT+OLEDROTATE=SET
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OK
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```
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### AT+OLEDROTATE=GET
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**Description:** Query current OLED rotation setting.
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**Format:**
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```
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AT+OLEDROTATE=GET\r\n
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```
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**Response:**
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```
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AT+OLEDROTATE=GET,<angle>
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OK
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```
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---
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## 3. Bluetooth Output Configuration
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Configure which NMEA sentences and custom messages are output via Bluetooth.
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### AT+BT_OUT=SET
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**Description:** Configure Bluetooth data output format and content.
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**Format:**
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```
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AT+BT_OUT=SET,<type>,<json>,<gnpos>,<gndev>,<gga>,<gst>,<rmc>,<vtg>,<gsv>,<gsa>\r\n
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```
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**Parameters:**
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- `type`: Output mode
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- `0` = Standard mode (output all raw GNSS data)
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- `1` = Custom mode (selective output based on following parameters)
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- `json`: Output JSON format position data (0=disable, 1=enable)
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- `gnpos`: Output custom GNPOS sentence (0=disable, 1=enable)
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- `gndev`: Output custom GNDEV sentence (0=disable, 1=enable)
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- `gga`: Output NMEA GGA sentence (0=disable, 1=enable)
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- `gst`: Output NMEA GST sentence (0=disable, 1=enable)
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- `rmc`: Output NMEA RMC sentence (0=disable, 1=enable)
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- `vtg`: Output NMEA VTG sentence (0=disable, 1=enable)
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- `gsv`: Output NMEA GSV sentence (0=disable, 1=enable)
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- `gsa`: Output NMEA GSA sentence (0=disable, 1=enable)
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**Examples:**
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```
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AT+BT_OUT=SET,0\r\n
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AT+BT_OUT=SET,1,1,1,1,1,1,1,1,1,1\r\n
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AT+BT_OUT=SET,1,0,1,1,1,0,0,0,0,0\r\n
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AT+BT_OUT=SET,1,,,,1,1,1,1\r\n
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```
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**Notes:**
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- Empty parameters retain previous values
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- When `type=0`, all other parameters are ignored
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- When `type=1`, you can selectively enable/disable each output
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**Response:**
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```
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AT+BT_OUT=SET
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OK
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```
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### AT+BT_OUT=GET
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**Description:** Query current Bluetooth output configuration.
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**Format:**
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```
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AT+BT_OUT=GET\r\n
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```
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**Response:**
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```
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AT+BT_OUT=GET,<type>,<json>,<gnpos>,<gndev>,<gga>,<gst>,<rmc>,<vtg>,<gsv>,<gsa>
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OK
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```
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---
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## 4. Data Upload Configuration
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Configure network data upload parameters (TCP/HTTP/MQTT).
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### AT+UPLOADDATA_PARM=SET
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**Description:** Set data upload server parameters.
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**Format:**
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```
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AT+UPLOADDATA_PARM=SET,<enable>,<server>,<port>\r\n
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```
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**Parameters:**
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- `enable`: Enable/disable data upload
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- `0` = Disable
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- `1` = Enable
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- `server`: Server address (IP or domain name, max 128 chars)
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- `port`: Server port number (1-65535)
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**Examples:**
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```
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AT+UPLOADDATA_PARM=SET,0\r\n
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AT+UPLOADDATA_PARM=SET,1,192.168.0.1,2202\r\n
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AT+UPLOADDATA_PARM=SET,1,data.example.com,8080\r\n
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```
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**Response:**
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```
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AT+UPLOADDATA_PARM=SET
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OK
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```
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### AT+UPLOADDATA_PARM=GET
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**Description:** Query data upload server configuration.
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**Format:**
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```
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AT+UPLOADDATA_PARM=GET\r\n
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```
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**Response:**
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```
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AT+UPLOADDATA_PARM=GET,<enable>,<server>,<port>
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OK
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```
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---
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## 5. Data Upload Type Configuration
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Configure upload protocol and authentication.
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### AT+UPLOADDATA_TYPE=SET
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**Description:** Set upload protocol type and credentials.
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**Format:**
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```
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AT+UPLOADDATA_TYPE=SET,<type>,USERNAME,<username>,PASSWORD,<password>\r\n
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```
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**Parameters:**
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- `type`: Upload protocol type
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- `0` = TCP
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- `1` = HTTP
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- `2` = MQTT
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- `username`: Authentication username (required for MQTT)
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- `password`: Authentication password (required for MQTT)
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**Examples:**
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```
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AT+UPLOADDATA_TYPE=SET,0\r\n
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AT+UPLOADDATA_TYPE=SET,1\r\n
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AT+UPLOADDATA_TYPE=SET,2,USERNAME,user11,PASSWORD,password11\r\n
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```
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**Response:**
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```
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AT+UPLOADDATA_TYPE=SET
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OK
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```
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### AT+UPLOADDATA_TYPE=GET
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**Description:** Query upload protocol configuration.
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**Format:**
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```
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AT+UPLOADDATA_TYPE=GET\r\n
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```
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**Response:**
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```
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AT+UPLOADDATA_TYPE=GET,<type>,<username>,<password>
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OK
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```
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---
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## 6. Rover Mode Configuration
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Configure NTRIP client parameters for RTK rover mode.
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### AT+ROVER_PARM=SET
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**Description:** Set NTRIP/CORS server parameters for receiving RTK corrections.
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**Format:**
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```
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AT+ROVER_PARM=SET,<enable>,<server>,<port>,<mountpoint>,<username>,<password>\r\n
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```
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**Parameters:**
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- `enable`: Enable/disable NTRIP client
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- `0` = Disable
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- `1` = Enable
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- `server`: NTRIP server address (IP or domain name)
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- `port`: NTRIP server port (typically 2101 or 2102)
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- `mountpoint`: NTRIP mountpoint name
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- `username`: NTRIP authentication username
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- `password`: NTRIP authentication password
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**Examples:**
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```
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AT+ROVER_PARM=SET,0\r\n
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AT+ROVER_PARM=SET,1,211.144.118.5,2102,RTCM32,username,password\r\n
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AT+ROVER_PARM=SET,1,sh.mijiatech.cn,2102,22C018,zd,zd\r\n
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```
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**Response:**
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```
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AT+ROVER_PARM=SET
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OK
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```
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### AT+ROVER_PARM=GET
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**Description:** Query NTRIP client configuration.
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**Format:**
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```
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AT+ROVER_PARM=GET\r\n
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```
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**Response:**
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```
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AT+ROVER_PARM=GET,<enable>,<server>,<port>,<mountpoint>,<username>,<password>
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OK
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```
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---
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## 7. Base Station Mode Configuration
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Configure base station parameters for outputting RTK corrections.
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### AT+BASE_PARM=SET
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**Description:** Set base station mode parameters.
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**Format (Mode 0 - Disable):**
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```
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AT+BASE_PARM=SET,0\r\n
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```
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**Format (Mode 1 - TCP Server):**
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```
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AT+BASE_PARM=SET,1,<server>,<port>\r\n
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```
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**Format (Mode 2 - NTRIP Caster):**
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```
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AT+BASE_PARM=SET,2,<server>,<port>,<mountpoint>,<username>,<password>\r\n
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```
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**Parameters:**
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- Mode `0`: Disable base station mode
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- Mode `1`: TCP server mode
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- `server`: Server address to send RTCM data
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- `port`: Server port
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- Mode `2`: NTRIP caster mode
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- `server`: NTRIP caster address
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- `port`: NTRIP caster port
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- `mountpoint`: Mountpoint name
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- `username`: Authentication username
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- `password`: Authentication password
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**Examples:**
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```
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AT+BASE_PARM=SET,0\r\n
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AT+BASE_PARM=SET,1,192.168.1.100,2102\r\n
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AT+BASE_PARM=SET,2,sh.mijiatech.cn,2102,RTCM32-1,zd,zd\r\n
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```
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**Response:**
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```
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AT+BASE_PARM=SET
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OK
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```
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### AT+BASE_PARM=GET
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**Description:** Query base station configuration.
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**Format:**
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```
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AT+BASE_PARM=GET\r\n
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```
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**Response (Mode 0):**
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```
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AT+BASE_PARM=GET,0
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OK
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```
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**Response (Mode 1):**
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```
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AT+BASE_PARM=GET,1,<server>,<port>
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OK
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```
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**Response (Mode 2):**
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```
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AT+BASE_PARM=GET,2,<server>,<port>,<mountpoint>,<username>,<password>
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OK
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```
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---
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## 8. GNSS Mode Configuration
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Configure device operating mode (Rover/Base/Static).
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### AT+GNSS_MODE=SET
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**Description:** Set GNSS operating mode.
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**Format:**
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```
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AT+GNSS_MODE=SET,<mode>\r\n
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```
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**Parameters:**
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- `mode`: Operating mode
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- `0` = Rover mode (mobile RTK positioning)
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- `1` = Base station mode (output RTK corrections)
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- `2` = Static mode (stationary positioning)
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**Examples:**
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```
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AT+GNSS_MODE=SET,0\r\n
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AT+GNSS_MODE=SET,1\r\n
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AT+GNSS_MODE=SET,2\r\n
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```
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**Response:**
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```
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AT+GNSS_MODE=SET
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OK
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```
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**Notes:**
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- Changing mode may require device restart
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- Base mode requires fixed position configuration
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- Rover mode requires NTRIP configuration for RTK
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### AT+GNSS_MODE=GET
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**Description:** Query current GNSS operating mode.
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**Format:**
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```
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AT+GNSS_MODE=GET\r\n
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```
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**Response:**
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```
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AT+GNSS_MODE=GET,<mode>
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OK
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```
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**Example:**
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```
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AT+GNSS_MODE=GET,0
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OK
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```
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---
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## Command Summary Table
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| Command | SET | GET | Description |
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|---------|-----|-----|-------------|
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| AT+APN | ✓ | ✓ | Configure cellular APN |
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| AT+OLEDROTATE | ✓ | ✓ | Set display rotation |
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| AT+BT_OUT | ✓ | ✓ | Configure Bluetooth output |
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| AT+UPLOADDATA_PARM | ✓ | ✓ | Set upload server |
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| AT+UPLOADDATA_TYPE | ✓ | ✓ | Set upload protocol |
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| AT+ROVER_PARM | ✓ | ✓ | Configure NTRIP client |
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| AT+BASE_PARM | ✓ | ✓ | Configure base station |
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| AT+GNSS_MODE | ✓ | ✓ | Set operating mode |
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---
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## Common Usage Scenarios
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### Scenario 1: Configure Rover Mode for RTK Positioning
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```
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AT+GNSS_MODE=SET,0\r\n
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AT+ROVER_PARM=SET,1,rtk.server.com,2101,MOUNT01,user,pass\r\n
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AT+BT_OUT=SET,1,0,1,1,1,1,0,0,0,0\r\n
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```
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### Scenario 2: Configure Base Station Mode
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```
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AT+GNSS_MODE=SET,1\r\n
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AT+BASE_PARM=SET,2,caster.server.com,2101,BASE01,user,pass\r\n
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```
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### Scenario 3: Enable All NMEA Output via Bluetooth
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```
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AT+BT_OUT=SET,1,0,1,1,1,1,1,1,1,1\r\n
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```
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### Scenario 4: Configure Custom APN
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```
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AT+APN=SET,1,internet,username,password\r\n
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```
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---
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## Error Handling
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**Common Error Responses:**
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- `ERROR` - Invalid command format or parameters
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- No response - Command timeout (check Bluetooth connection)
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**Troubleshooting:**
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1. Ensure commands end with `\r\n`
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2. Check parameter count and format
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3. Verify Bluetooth connection is active
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4. Wait for response before sending next command
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---
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## Notes
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- All commands are case-sensitive
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- Commands must end with `\r\n` (carriage return + line feed)
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- String parameters should not contain commas
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- Empty parameters in SET commands retain previous values
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- Configuration changes are saved to flash memory automatically
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- Some changes may require device restart to take effect
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---
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**Document Version:** 1.0
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**Firmware Version:** 1.2.37
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**Last Updated:** 2026-05-07
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