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maglink-console/AT_Commands_Reference.md
brentperteet 5703c05c1d Initial commit
2026-06-24 11:12:44 -05:00

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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

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