Command Write Configure - ACTION_PLANNING

<Header> +

<Payload_length>

<Payload>

PL0

PL1

PL2

PL3

PL4

PL5

$ESP_OK|xx|

‘W’

‘d’

Infor 1

Infor 2

Infor 3

Infor 4

...


 

Name CFG : ACTION_PLANNING

Number of field values : 9

 

Payload

Index

Type value

Min

Value

Max

Value

Default

Value

Min Length

Max Length

Describe

Unit

PL2

INTEGER

1

10000

10

-

-

Max Rover

 

PL3

INTEGER

1

10000

1

-

-

ID Rover

 

PL4

INTEGER

0

14

8

-

-

Type Baudrate UART_0

 

PL5

INTEGER

0

14

6

-

-

Type Baudrate UART_1

 

PL6

INTEGER

0

14

6

-

-

Type Baudrate UART_2

 

PL7

INTEGER

0

1

1

-

-

Map TX-UART-RTK

 

PL8

INTEGER

0

1

0

-

-

Map RX-UART-RTK

 

PL9

INTEGER

0

15

0

-

-

Main Action

 

PL10

BIT

-

-

000000000000

12

12

Other action

 

PL11

 

 

 

 

 

 

 

 

PL12

 

 

 

 

 

 

 

 

PL13

 

 

 

 

 

 

 

 

PL14

 

 

 

 

 

 

 

 

PL15

 

 

 

 

 

 

 

 

PL16

 

 

 

 

 

 

 

 





PL0

PL1

PL4

Type Baudrate UART_0

Unit

 

 

PL5

Type Baudrate UART_1

 

 

PL6

Type Baudrate UART_2

‘W’

‘d’

0

1200

bps

 

 

1

2400

bps

 

 

2

4800

bps

 

 

3

9600

bps

 

 

4

19200

bps

 

 

5

38400

bps

 

 

6

57600

bps

 

 

7

115200

bps

 

 

8

230400

bps

 

 

9

250000

bps

 

 

10

460800

bps

 

 

11

500000|

bps

 

 

12

921600

bps

 

 

13

1000000

bps

 

 

14

2000000

bps

 

 

 

PL0

PL1

PL7

Map TX-UART-RTK

Unit

‘W’

‘d’

0

Map TX-UART-RTK to TX_UART_1 port

 

 

 

1

Map TX-UART-RTK to TX_UART_2 port

 


 

 

 

 

PL0

PL1

PL8

Map RX-UART-RTK

Unit

‘W’

‘d’

0

Map RX-UART-RTK to RX_UART_1 port

 

 

 

1

Map RX-UART-RTK to RX_UART_2 port

 


 

PL0

PL1

PL9

Main Action

Unit

‘W’

‘d’

0

No Main Action

 

 

 

1

MQTT_Base

 

 

 

2

NTRIP_Base

 

 

 

3

Radio_Base

 

 

 

4

MQTT_Rover

 

 

 

5

NTRIP_Rover

 

 

 

6

Radio_Rover

 

 

 

7

UART_to_Bluetooth

 

 

 

8

UART_to_RF_Base

 

 

 

9

UART_to_RF_Rover

 

 

 

10

Bluetooth_to_RF_Base

 

 

 

11

Bluetooth_to_RF_Rover

 

 

 

12

MQTT_Rover_Repeater

 

 

 

13

NTRIP_Rover_Repeater

 

 

 

14

Radio_Rover_Repeater

 





 

PL0

PL1

PL10

Other action

Unit

‘W’

‘d’

BIT1

Export IMU Data to TX_UART_0 port

 

 

 

BIT2

Save NMEA/RTCM/RAW/.. Data (from RX-UART-RTK) to SD Card

 

 

 

BIT3

Send NMEA/RTCM/RAW/.. Data (from RX-UART-RTK) to Bluetooth Client

 

 

 

BIT4

Base-Export NMEA/GGA data (from Rovers) to TX_UART_0 port

 

 

 

BIT5

Base-Priority export NMEA Data from Rovers|Rover-Save RTCM/RAW... data (from Server/Radio_Base) to SD Card

 

 

 

BIT6

Rover-Send GGA message (from RX-UART-RTK) to Server/Radio_Base

+ Export GGA to TX_UART0

 

 

 

BIT7

Rover-Send all NMEA messages (from RX-UART-RTK) to Server/Radio_Base + Export NMEA to TX_UART0

 

 

 

BIT8

Wireless Bridge: Save data send (TX-Wireless-Data) to SD Card

 

 

 

BIT9

Wireless Bridge: Save data receive (RX-Wireless-Data) to SD Card

 

 

 

BIT10

Rover Repeat: Send RTCM/RAW... data (from Server/Radio_Base) to Bluetooth Client

 

 

 

BIT11

Rover Repeat: Send RTCM/RAW... data (from Server/WiFi_Radio_Base) to LoRa_Radio_Rover

 

 

 

BIT12

Encrypt/Decrypt data for more protection

 

 

 

 

 

 

 

 

PL0

PL1

PL9

PL10 – BIT Support (1 → 12)

1

2

3

4

5

6

7

8

9

10

11

12

‘W’

‘d’

0

 

 

1

 

 

2

 

 

3

 

 

4

 

 

5

 

 

6

 

 

7

 

 

8

 

 

9

 

 

10

 

 

11

 

 

12

 

 

13

 

 

14

 

ESPrtk Respond

Payload

Index

 

Type value

Min

Value

Max

Value

Min Length

Max Length

Describe

Unit

PL2

‘d’

STRING

-

-

1

1

ID Configure : ACTION_PLANNING

 

 

PL3

INTEGER

0

1

-

-

Status Configure

 

0

Error: Failed to save , please try again

1

OK : Saved configure success

 

PL4

STRING

-

-

-

-

Describe Status Configure in text string format

 


Example

Message :

HOST Send

$ESP_OK|34|W|d|10|1|8|6|6|1|0|0|000000000000|*6C7C

ACK Respond

$ESP_OK|49|W|d|1|( ID : ACTION_PLANNING ) : Saved Success .|*6A14

NACK Respond

$ESP_ER|… or $ESS_ER|… or $AES_ER|…

 

 

Command Read configure - ACTION_PLANNING

ESPrtk Respond

The index / range of values / data types is similar to the index / range of values / data types of payloads when configured.

Example

Message :

HOST Send

$ESP_OK|5|R|d||*6238

ACK Respond

$ESP_OK|34|R|d|10|1|8|6|6|1|0|0|000000000000|*697C

NACK Respond

$ESP_ER|… or $ESS_ER|… or $AES_ER|…