I-JAVAD GREIS GNSS Receiver yangaphandle Umhlahlandlela Womsebenzisi

Isetshenziswa kanjani i-GREIS: Isetshenziselwa ukuthuthukisa ukusebenza nokunemba kwezinhlelo ze-GNSS.
Uhlu: Bheka imanuwali ukuze uthole izinhlu ezinemininingwane yezici ezisekelwayo nemisebenzi.

Izinto: Hlola izinto ezahlukene ezingase zisetshenziswe nge-GREIS ngemisebenzi ethile.

Ulimi Lokufaka Lomamukeli

Ulimi lokufakwayo kowamukelayo luvumela abasebenzisi ukuthi bahlanganyele nedivayisi basebenzisa imiyalo ethile kanye ne-syntax. Nakhu okufushaneview:

Ulimi Exampkancane: Funda ku-ex enikeziweampukuze uqonde ukuthi ungaxhumana kanjani nedivayisi.
I-syntax yolimi: Zijwayeze nemithetho ye-syntax yokuthumela imiyalo kumamukeli.

Imiyalo: Sebenzisa imiyalo eyahlukene ukuze ulawule futhi ulungiselele idivayisi ngokusekelwe kuzimfuneko zakho.

Imilayezo yomamukeli

Ukuqonda imilayezo yomamukeli kubalulekile ekuhumusheni idatha nolwazi lwesimo. Nakhu okudingeka ukwazi:

Izivumelwano: Landela amafomethi namanani athile ukuze utolike imilayezo ngokunembile.
Ukusakaza Okujwayelekile Komlayezo: Hlola ifomethi yomlayezo ojwayelekile wokudluliswa kwedatha okungaguquki.

Imibuzo Evame Ukubuzwa

Umbuzo: Ngingakwazi yini ukulungisa i-firmware ye-GREIS GNSS Receiver?
A: Cha, ukulungisa i-firmware akuvunyelwe ngokwemithetho ye-copyright ye-JAVAD GNSS.

Q: Ngingalufinyelela kanjani usekelo lwezinkinga zobuchwepheshe ezihlobene ne-GREIS GNSS Receiver?
IMP: Ngosizo lobuchwepheshe, sicela uthinte i-JAVAD GNSS ngokuqondile ukuze uthole usizo.

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Siyabonga ngokuthenga isamukeli sakho se-JAVAD GNSS. Izinto ezitholakala kulo Mhlahlandlela Wezithenjwa (“Umhlahlandlela”) zilungiswe yi-JAVAD GNSS, Inc. kubanikazi bemikhiqizo ye-JAVAD GNSS. Idizayinelwe ukusiza abanikazi ngokusetshenziswa komamukeli futhi ukusetshenziswa kwayo kungaphansi kwale migomo nemibandela (“Imigomo Nemibandela”).

Imibandela
UKUSETSHENZISWA NGOBUCHWEPHESHE izamukeli ze-JAVAD GNSS zakhelwe ukuthi zisetshenziswe uchwepheshe. Umsebenzisi kulindeleke ukuthi abe nolwazi oluhle kanye nokuqonda komsebenzisi neziyalezo zokuphepha ngaphambi kokusebenza, ukuhlola noma ukulungisa. Gqoka njalo izivikelo ezidingekayo (izicathulo zokuphepha, umakalabha, njll.) lapho usebenzisa umamukeli.

ISIKHUMBUZO SESIQINISEKISO NGAPHANDLE KWANOMA YIZIPHI IZIQINISEKISO KULO MHLAHLANDLELA NOMA IKHADI LESIQINISEKISO ESIPHEPHELA UMKHIQIZO, LO MHLAHLANDLELA KANYE NOWAMUKILEYO KUNIKEZELWA “NJENGOBA ZINJALO.” AZIKHO EZINYE IZIQINISEKISO. I-JAVAD GNSS IZINDUMA NGANOMA YILUPHI ISIQINISEKISO ESISHIYILEYO SOKUDAYISWA NOMA UKULUNGA KWANOMA YIKUPHI UKUSETSHENZISWA OKUTHILE NOMA INHLOSO. I-JAVAD GNSS KANYE NABASABISI BAYO NGEKE BABOPHEZWE AMAPHUTHA OBUCHWEPHESHE NOMA OKUHLELI NOMA UKUKWEPHULWA OKUQUKETHWE LAPHA; NOMA OKWENZEKE NGENZAKALO NOMA OBUHLUNGU OBUHLANGANISA IFENISHI, UKUSEBENZA NOMA UKUSETSHENZISWA KWALESI SITHUNZI NOMA UMAmukeli. LOWO MALIMAKALA OKWENZIWA UKUBALULEKILE UHLANGANISA KODWA AKUPHELELE EKULAHLEKENI ISIKHATHI, UKULAHLEKELWA NOMA KONAKALA KWEDATHA, UKULAHLEKELWA KWENZUZO, UKONGA NOMA INGENISO, NOMA UKULAHLEKELWA UKUSETSHENZISWA KOMKHIQIZO. NGAPHEZU kwalokho, i-JAVAD GNSS AYINANXA IMANDLA NOMA AYIBOPHEZELEKILE NGOKULIMALA NOMA IZINDLEKO EZENZEKAYO MAYELANA NOKUTHOLA IMIKHIQIZO ENGENYE OKUNYE NOMA ISOFTHIWE, IZIFUNO ZEZINYE, UKUNGAHLELI, NOMA EZINI EZINYE Izindleko. KUNOMA YIKUPHI UMCIMBI, I-JAVAD GNSS AYIBE NESIBOPHO SOKULIMALA NOMA OKUNYE KUWE NOMA KUNOMA OMNYE UMUNTU NOMA INHLANGANO NGENXA YENANI LOKUTHENGA KOWAMUKILE.
ISIVUMELWANO SELAYISENSE Ukusetshenziswa kwanoma yiziphi izinhlelo zekhompyutha noma isofthiwe ehlinzekwe yi-JAVAD GNSS noma edawunilode ku-JAVAD GNSS webisayithi (“Isofthiwe”) ehlobene nomamukeli ihlanganisa ukwamukela le Migomo Nemibandela kulo mhlahlandlela kanye nesivumelwano sokuthobela le Migomo Nemibandela. Umsebenzisi unikezwa ilayisense yomuntu siqu, engakhethekile, engadluliseki yokusebenzisa leyo Software ngaphansi kwemibandela.

ISANDULELA Imigomo Nemibandela
okushiwo lapha futhi kunoma yikuphi kuphela ngesamukeli esisodwa noma ikhompuyutha eyodwa. Ngeke ukwazi ukunikeza noma ukudlulisa Isofthiwe noma le layisense ngaphandle kwemvume ebhaliwe ye-JAVAD GNSS. Le layisensi iyasebenza ize inqanyulwe. Unganqamula ilayisensi nganoma yisiphi isikhathi ngokucekela phansi iSofthiwe kanye Nomhlahlandlela. I-JAVAD GNSS ingase inqamule ilayisensi uma wehluleka ukuthobela noma yimiphi Imibandela noma Imibandela. Uyavuma ukucekela phansi iSofthiwe kanye Nomhlahlandlela ekunqanyulweni kwakho ukusebenzisa umamukeli. Bonke ubunikazi, amalungelo okukopisha kanye namanye amalungelo empahla yengqondo ngaphakathi kanye naku-Software kungowe-JAVAD GNSS. Uma le migomo yelayisensi ingamukelekile, buyisela noma iyiphi isofthiwe engasetshenzisiwe kanye nomhlahlandlela.

OKUYIMFIHLO Lo mhlahlandlela, okuqukethwe kwawo kanye neSofthiwe (ngokuhlangene, “Ulwazi Oluyimfihlo”) kuwulwazi oluyimfihlo noluyimfihlo lwe-JAVAD GNSS. Uyavuma ukuphatha Ulwazi Oluyimfihlo Lwe-JAVAD GNSS ngezinga lokunakekela eliqine kakhulu izinga lokunakekela ongalisebenzisa ekuvikeleni izimfihlo zakho zohwebo ezibaluleke kakhulu. Akukho kulesi sigaba okuzokuvimbela ukuthi udalule Ulwazi Oluyimfihlo kubasebenzi bakho njengoba kungase kudingeke noma kufaneleke ukuze usebenze noma unakekele umamukeli. Labo basebenzi kufanele futhi bagcine Ulwazi Lokugcinwa Kuyimfihlo kuyimfihlo. Esimeni lapho uphoqeleka ngokomthetho ukuthi udalule noma yiluphi Ulwazi Oluyimfihlo, uzonikeza i-JAVAD GNSS isaziso esisheshayo ukuze ifune incwadi yokuvikela noma elinye ikhambi elifanelekile.
WEBI-SITE; EZINYE IZITATIMENDE Asikho isitatimende esiqukethwe ku-JAVAD GNSS webindawo (noma yimuphi omunye webindawo) noma kunoma yiziphi ezinye izikhangiso noma izincwadi ze-JAVAD GNSS noma ezenziwe isisebenzi noma usonkontileka ozimele we-JAVAD GNSS ilungisa le Migomo Nemibandela (kuhlanganise nelayisensi Yesofthiwe, iwaranti kanye nomkhawulo wesikweletu).
UKUPHEPHA Ukusebenzisa kabi umamukeli kungaholela ekulimaleni abantu noma impahla kanye/noma ukungasebenzi kahle komkhiqizo. Umamukeli kufanele alungiswe kuphela izikhungo zesevisi yewaranti ye-JAVAD GNSS egunyaziwe.
OKUHLUKILEYO Le Migomo Nemibandela engenhla ingase ichitshiyelwe, ilungiswe, ithathelwe indawo, noma ikhanseliwe, nganoma yisiphi isikhathi nge-JAVAD GNSS. Le Migomo Nemibandela engenhla izobuswa, futhi ihunyushwe ngokuvumelana, nemithetho Yesifunda SaseCalifornia, ngaphandle kokubhekisela ekungqubuzaneni kwemithetho.

Yini i-GREIS
I-GREIS iwulimi olusebenzisanayo oluvumela umsebenzisi ukuthi axhumane ngempumelelo nabamukeli be-GNSS ngokufinyelela wonke amakhono abo nemisebenzi.
I-GREIS imele ukwakheka kolimi lomamukeli ojwayelekile kulo lonke uhla lwezingxenyekazi zekhompuyutha ze-JAVAD GNSS. Lesi sakhiwo solimi asizimele umamukeli futhi sivulekele ukuguqulwa noma ukunwetshwa esikhathini esizayo. I-GREIS isuselwe endleleni ebumbene evumela umsebenzisi ukuthi alawule isamukeli se-JAVAD GNSS esebenzisa isethi efanelekile yezinto eziqanjwe igama. Ukuxhumana nalezi zinto kufinyelelwa ngemiyalelo nemiyalezo echazwe ngaphambilini. Azikho izithiyo ezithile ezinombolweni noma ohlotsheni lwezinto zomamukeli ezisetshenzisiwe.

Isetshenziswa kanjani i-GREIS
Noma iyiphi isistimu exhumana nesamukeli se-JAVAD GNSS ngesinye sezimbobo zayo (i-serial, parallel, USB, Ethernet, njll.) izosebenzisa imiyalo nemilayezo ye-GREIS ukuze kufezwe umsebenzi odingekayo. Ipheya yezinhlelo zokusebenza ezijwayelekile lapho i-GREIS idlala indima ebaluleke kakhulu, okokuqala, isebenzisa izilawuli ezibanjwa ngesandla ukuze zixhumane nabamukeli ngesikhathi sokusebenza kwenkundla kumaphrojekthi wocwaningo kanye namaphrojekthi we-RTK noma, okwesibili, lapho udawuniloda idatha kubamukeli kumasistimu wedeskithophu ukuze kuqhutshekwe nokucubungula okuthunyelwe. Uhlelo lokusebenza lokucubungula okuthunyelwe ngokwalo alusebenzisi imiyalo ye-GREIS, kodwa ludinga ukuqaphela imilayezo ye-GREIS ukuze kukhishwe idatha kudatha. files.

Isici esisodwa esibalulekile se-GREIS ukuthi ingasetshenziswa ngempumelelo kokubili ekulawuleni okuzenzakalelayo nokwenziwa ngesandla kwabamukeli be-JAVAD GNSS. Ukuze uthole ukulawula okwenziwa ngesandla, umsebenzisi uzofaka imiyalo edingekayo ye-GREIS kumamukeli ngokusebenzisa itheminali. Lokhu kufinyeleleka kalula njengoba i-GREIS yakhelwe ukuba ibe isixhumi esibonakalayo sombhalo ofundeka umuntu. Ngakolunye uhlangothi, i-GREIS ithobela imithetho eqinile eyenza kube lula ukuyisebenzisa ngezinhlelo zokusebenza.

Uhlu
I-GREIS isebenzisa kakhulu umqondo wohlu. Uhlu lusetshenziswa kokubili olimini lokufakwayo kowamukelayo kanye nasemilayezweni yombhalo evamile.

ISINGENISO Izinto
Uhlu ku-GREIS lumelwe ukulandelana kwezinto ezihlukaniswa ngokhefana (,, ikhodi ye-ASCII 44), futhi evalelwe kuzikaki ({}, ASCII amakhodi 123 kanye no-125):
{element1,element2,element3}
Ngokulandelayo, izici zohlu zingase zibe izinhlu:
{e1,{ee21,ee22},e3}
Ngakho-ke incazelo engenhla iyaphindaphinda, ukuze izinhlu zokujula kokuzalela ngokungafanele zivunyelwe. Izakhi ezingezona izinhlu zibizwa ngokuthi izakhi zamaqabunga, noma amaqabunga nje. Izinto zohlu zingase zingabi nalutho, lapho sithi isici asifakiwe. Okwesiboneloample, ohlwini olungezansi, isici sesibili asifakiwe:
{e1,,e3}
Izikhala ngaphambi nangemuva kwemingcele zivunyelwe futhi azinakwa. Uma izakhi zohlu zonke zineyunithi yezinhlamvu engaphansi efanayo (isiqalo) ekuqaleni, lolu chungechunge oluncane lungasuswa kumabrace azungeze uhlu, isb.
i-elem{1,2,3}
iwuhlobo olufushane lwe
{elem1,elem2,elem3}

Izinto zingafakwa ezicashuniwe ezikabili (“, ikhodi ye-ASCII 34) esuswayo ngesikhathi sokuhlaziya. Ngaphakathi kwento ecashuniwe, izimpawu ezikhethekile (izikaki, okhefana, njll.) zikhulula indima yazo futhi zibhekwa njengezinhlamvu ezivamile. Okunye ukusetshenziswa kwezingcaphuno ukuhlukanisa phakathi kwezimo “zesici asicacisiwe” kanye “nesici esingenalutho esicacisiwe”. ukubeka ipheya yezingcaphuno ezikabili phakathi kwamakhoma kuyasiza futhi lapho umuntu edinga ukuba nezikhala eziholayo noma ezilandelanayo entanjeni, caphuna lesi sici futhi ubalekele ukucaphuna okukabili ngaphakathi ngohlamvu lwe-backslash (, ASCII code 92).ample:
Example: “Uchungechunge oluthi “quotes”, i-backslash \, nezinhlamvu ezikhethekile, {}”
1.4 Izinto
Kumongo wemodeli i-GREIS esekelwe kuyo, isamukeli se-JAVAD GNSS sihlonzwa ngesethi yezinto eziqanjwe igama.

GREIS

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ISINGENISO Izinto
Izihlonzi zento
Into ichazwa njengengxenye yehadiwe noma yesofthiwe yomamukeli engabhekiswa, isethwe, noma ibuzwe. Izinkampani ze-Hardware zivame ukubizwa ngokuthi amadivaysi, kanti izinto ze-firmware zijwayelekile files kanye nemingcele. Izimbobo zomamukeli namamojula wenkumbulo konke kungama-ex amahleampokuncane kwamadivayisi. Wonke amadivayisi, files namapharamitha aphathwa ngendlela efanayo yi-GREIS. Yonke into inesethi ehlobene yezibaluli engafinyelelwa, ichazwe, kanye/noma ishintshwe nge-GREIS.

1.4.1 Izihlonzi zento
Sekuvele kushiwo ukuthi umamukeli uthathwa njengesethi yezinto (amadivayisi, files, imilayezo, amapharamitha, njll.) kumongo wemodeli ye-GREIS. Ngezinjongo zokubhekana nezinto ezisemiyalweni yomamukeli, isihlonzi esiyingqayizivele kufanele sabelwe yonke into.

Izinto kumamukeli zihlelwa ngokunengqondo zaba ngamaqembu. Iqembu ngokwalo nalo liyinto futhi lingelelinye iqembu ngaphandle uma kuyiqembu lempande. Ngakho-ke zonke izinto kumamukeli zihlelwa zaba isigaba esifana nesihlahla esiqala eqenjini elilodwa lempande. Lesi sithombe sifana nenhlangano ye files zibe uhla lwemibhalo (amafolda) iningi labasebenzisi bekhompyutha abalaziyo.
Ku-GREIS, amaqembu ezinto amelelwa njengohlu lwamagama ezinto ahambisanayo. Igama lento lihlukile phakathi kohlu into eyingxenye yalo. Isihlonzi sento esiyingqayizivele emhlabeni wonke sichazwa njengawo wonke amagama ento esendleleni edlula esihlahleni sento kusukela kuhlu lwempande ukuya entweni, ehlukaniswa i-slash eya phambili (/). Uhlu lwempande ngokwalo lukhonjwa nge-single forward slash.
Exampizihlonzi izinto yilezi:
Example: Iqembu lempande:
/
Example: I-ID ye-Receiver electronic:
/par/rcv/id
ExampI-serial Port A isilinganiso se-baud:
/par/dev/ser/a/rate
Example: Izibaluli (usayizi kanye nesikhathi sokugcina sokuguqulwa) kwe- file IGAMA (file izibaluli zihlukile kuzibaluli zento okuxoxwe ngazo ngezansi):
/log/NAME
Example: NMEA GGA umusho:

GREIS

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ISINGENISO Okukhiphayo Kwezikhathi ezithile
Izinhlobo Zezinto
/msg/nmea/GGA
Zonke izinto zinesibaluli esisodwa noma eziningi ezihlotshaniswa nazo. Izibaluli zento zikhonjwa ngokuhlanganisa & nohlamvu kanye negama lesichasiso kokokuhlonza into. Isibaluli esiyinhloko into ngayinye enayo siyivelu. Lesi sibaluli sihlale sifinyelelwa ngokungagunci ngemiyalo ye-GREIS. Ezinye zezinto zingase zibe nezibaluli ezengeziwe, isiboneloample: Eksample: Imbobo ye-serial Izinga le-baud elizenzakalelayo:
/par/dev/ser/a/rate&def
Example: Okuqukethwe kwe file IGAMA:
/log/NAME&okuqukethwe
1.4.2 Izinhlobo Zezinto
Yonke into kumamukeli inohlobo lwe-GREIS oluhlotshaniswa nayo. Uhlobo lwento luchaza ukuziphatha kwayo ngokuhlonipha imiyalo ye-GREIS. Ngokukhethekile, uhlobo luchaza ukuthi yimaphi amanani angathathwa futhi yimiphi imiyalo ethile esebenza entweni.
Bheka “Izinhlobo Zezinto Eziyinhloko” ekhasini 184 ukuze uthole incazelo enemininingwane yezinhlobo zezinto ezisekelwayo njengamanje.

GREIS

1.5 Okukhiphayo Kwezikhathi ezithile

Indima ebalulekile ekusebenzeni komamukeli idlala ikhono layo lokukhipha ulwazi ngezikhathi ezithile, njengezinhlobo ezahlukene zezilinganiso, amanani abaliwe, njll., ngokuya ngeshejuli ethile. I-GREIS ichaza isethi ecebile yemilayezo equkethe izinhlobo ezahlukene zolwazi ngamafomethi ahlukene angamayunithi amancane okukhiphayo, futhi inikeza izindlela zokucela okukhiphayo ngezikhathi ezithile kwanoma iyiphi inhlanganisela yemilayezo nganoma iyiphi indlela kunoma iyiphi imidiya esekelwayo efanele ukukhishwa kwedatha. Noma iyiphi imidiya esekelwayo efanele okukhipha idatha ibizwa ngokuthi i-output stream nge-GREIS.
Kukho konke ukusakaza okukhiphayo, umamukeli ugcina uhlu lwemilayezo okwamanje enikwe amandla ukuthi ikhishelwe ekusakazweni, okubizwa ngokuthi uhlu lokuphumayo. Indlela imiyalezo ephuma ngayo, ifana nokuhleleka kwemiyalezo ohlwini lokuphumayo. Ngaphezu kwalokho, wonke umlayezo okhona ohlwini lokuphumayo unesethi yawo yamapharamitha wokuhlela ahlotshaniswa nawo. Imingcele yokuhlela enamathiselwe emyalezweni ohlwini lokuphumayo ichaza ishejuli yokuphuma kwalo mlayezo kulokhu kusakazwa kokuphumayo okuthile. I-GREIS inikeza ama-com-

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ISINGENISO Isikhathi Nesigaba Sokukhiphayo Kwezikhathi ezithile
mands, em, out, kanye ne-dm, ukuvumela ukukhohliswa okuphumelelayo kohlu lokuphumayo namapharamitha wokuhlela.
Amapharamitha wokuhlela umlayezo ahlanganisa izinkambu ezine: isikhathi, isigaba, ukubala, namafulegi, ngayinye edlala indima ehlukile encazelweni yeshejuli yokuphumayo. Ngezansi sizochaza ukuthi amanani abo athinta kanjani okukhiphayo, kodwa ngokuyisisekelo, isikhathi sicacisa isikhawu phakathi kokuphumayo komlayezo; isigaba sicacisa ukushintsha kwesikhathi kwezikhathi zokukhiphayo ngokuphathelene nezikhathi lapho isikhathi samanje siphindaphinda isikhathi; isibalo, lapho sikhulu kunoziro, sikhawulela inani lezikhathi lapho umlayezo uzophuma khona; kanti amafulegi filed ivumela ukucushwa okuthile okuhle kwenqubo yokukhiphayo.

1.5.1 Isikhathi Sokuphuma Nesigaba

Qaphela:

Isikhathi nezinkambu zesigaba sezinhlaka zokuhlela umlayezo zingamanani amaphuzu antantayo ebangeni [0…86400) imizuzwana. Incazelo yawo ngqo ichazwe ngezansi.
Lapho ibhithi ye-F_CHANGE isethwe kunkambu yamafulegi yamapharamitha okushejula, inkambu yesigaba idedela indima yayo evamile futhi ibe “isikhathi sokukhipha esiphoqelelwe” esikhundleni salokho. Bona incazelo yefulegi le-F_CHANGE ngezansi ukuze uthole imininingwane.
Umamukeli unegridi yaso yesikhathi sangaphakathi echazwa iwashi lomamukeli kanye nenani lepharamitha ethi /par/raw/curmsint echaza isinyathelo sama-epoch angaphakathi. Izinkathi zangaphakathi zomamukeli zenzeka lapho isikhathi somamukeli siphindaphinda isinyathelo. Ngokulandelayo, isikhathi somamukeli sichazwa njengenani lemodulo yewashi lomamukeli wosuku olulodwa (amasekhondi angu-86400). Isamukeli siskena uhlu lokuphumayo kuphela ngezikhathi zomamukeli wangaphakathi, ukuze kungabikho okukhiphayo okungakhiqizwa kaningi kunalokho.
Uma kucatshangelwa igridi yesikhathi sangaphakathi, isikhathi nokuhluka kwesigaba kuchaza izikhathi zesikhathi zokukhishwa komlayezo ngale ndlela: umamukeli uzokhipha umlayezo kuphela ngezikhathi zomamukeli.

Inkathi ye-Toutmod = isigaba

(1)

I-Tout = N isinyathelo (2)

GREIS

lapho u-N eyinombolo ephelele ethatha amanani [0,1,2,…,(86400/step)-1].
Isibalo sokuqala sichaza umthetho oyisisekelo wokuphuma kwemilayezo, kanti eyesibili ibeka imingcele eyengeziwe ehlobene nezinkathi zomamukeli wangaphakathi. Qaphela ukuthi esimweni esivame kakhulu, lapho kokubili isikhathi nesigaba kuwukuphindaphinda kwesinyathelo, isibalo sesibili sineliseka ngokuzenzakalela noma kunini lapho isibalo sokuqala saneliswa. Qaphela futhi ukuthi uma
86400 (inkathi yemod) 0,

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ISINGENISO Okukhiphayo Kwezikhathi ezithile
Ukubalwa Kokukhiphayo

Example:
Example: Eksample:

isikhawu sangempela phakathi komlayezo wokugcina othunyelwe ngaphambi kwe-rollover yosuku kanye nomlayezo wokuqala ngemva kokukhishwa kosuku kuzohluka kunani lenkathi.
Cabanga ngama-ex ambalwaampngezansi ebonisa le nqubo:
Ake sithi isikhathi singo-10s, isigaba singu-2.2s, futhi isinyathelo singu-0.2s. Njengoba i-Tout, ngokuya ngesibalo sesibili, ingathatha amanani kuphela ayizinyathelo eziningi, ingxenye engakwesokunxele yesibalo sokuqala izothatha amanani alandelayo: 0, 0.2, 0.4, …, 9.8, 0, …, lapho inani elingu-2.2 elifana nesigaba kuphela. Lokhu okufanayo kuzokwenzeka, futhi umlayezo uzokhishwa, njalo uma u-Tout ethatha inani elilodwa kulawa alandelayo: 2.2s, 12.2s, 22.2s, njll.
Ake sithi isikhathi singo-10s, isigaba singu-2.2s, futhi isinyathelo singu-0.5s. Umamukeli ngeke akhiphe umlayezo njengoba ipheya engenhla yezibalo ngesikhathi esisodwa ayineliseki.
Ake sithi isigaba > isikhathi. Umamukeli ngeke akhiphe umlayezo nhlobo njengoba isibalo sokuqala singasoze saneliseka.

1.5.2 Ukubalwa Komphumela

Qaphela:

Inkambu yokubala yamapharamitha wokuhlela umlayezo iyinani eliyingqikithi kububanzi [-256…32767) futhi isebenzisa izinjongo ezimbili ezihlukene:
1. Uma isibalo singu-0, inombolo engenamkhawulo yemilayezo izokhishwa. Uma isibalo sikhulu kuno-0, sichaza ukuthi umlayezo uzokhishwa kangaki. Kulesi simo isibali sincishiswa ngo-1 ngaso sonke isikhathi lapho umlayezo uphuma, futhi lapho uba ngu-0, ibhithi ye-F_DISABLED imiswa kunkambu yamafulegi. Isihleli semiyalezo asikhiphi imilayezo enebhithi esethi F_DISABLED.
2. Uma isibalo sisethelwe kunani kububanzi [-256…-1], okukhiphayo komlayezo akucindezelwa, futhi inkundla yokubala isebenzisa inhloso ehluke ngokuphelele. Inika amandla ukugoqwa komlayezo kumlayezo okhethekile [>>] ngaphambi kokuphumayo (bona “[>>] Isisonga” ekhasini 132). Inani lokubala libe selisetshenziselwa ukusetha inkambu ye-id kumlayezo okhiqiziwe [>>] ukuze i-id ilingane ngenombolo no (-1 - count).
Isici sokugoqa siwusizo, ngokwesiboneloample, ngohlelo lokusebenza lweseva oluthola imilayezo kumamukeli bese iyidlulisela kumakhasimende amaningi. Ingacela ukugoqwa kwemilayezo engafanele emilayezweni [>>] enezihlonzi ezihlukene, iqaqe imilayezo eyamukelwe, futhi ithumele idatha kumaklayenti athile ngokusekelwe ku-id eyamukelwe. Isebenzisa lesi sici, uhlelo lokusebenza olunjalo aludingi ukwazi noma yimaphi amanye amafomethi edatha kodwa ifomethi yomlayezo [>>], futhi ingasebenzisa isiteshi esisodwa sokuxhumana nomamukeli ukuthola nokuthumela imilayezo ngamafomethi ahlukene.

GREIS

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1.5.3 Amafulegi Okukhiphayo

ISINGENISO Okukhiphayo Kwezikhathi ezithile
Okukhipha Amafulegi

Inkambu yamafulegi yezinhlaka zokuhlela umlayezo iyinkambu yebhithi ebanzi engu-16-bit. Ingcezu ngayinye yale nkambu encane iyifulegi elihlukile futhi isebenza ngezinjongo ezihlukile. Okulandelayo uhlu lwamafulegi okuhlela umlayezo.
Ithebula 1-1. Amafulegi wokuhlela umlayezo

Ibhithi#
0 1 2 3 4 5 6 7 8 9 10 11 12

I-HEX
0x0001 0x0002 0x0004 0x0008 0x0010 0x0020 0x0040 0x0080 0x0100 0x0200 0x0400 0x0800 0xF000

Igama
F_OUT F_CHANGE F_OUT_ON_ADD F_NOTENA F_FIX_PERIOD F_FIX_PHASE F_FIX_COUNT F_FIX_FLAGS agodliwe ebekelwe igodliwe F_DISABLED agodliwe

Qaphela: Amagama ezindawo zethulwa lapha kuphela ngenjongo yokubhekisela kuwo kuleli bhukwana. Ayikho indlela yokuwasebenzisa emiyalweni ye-GREIS.

F_OUT Uma leli fulegi lisethiwe, imilayezo yokuqala ngemva kokuncenga komyalo ohambisanayo izokhishwa ngesikhathi sokwamukela kwangaphakathi esiseduze nesikhathi sokwenza umyalo kungakhathaliseki ukuthi yini eshiwo ipharamitha yokuhlela isikhathi.
F_CHANGE Uma leli fulegi lisethiwe, umlayezo ohambisanayo uzokhishwa kuphela uma idatha yomlayezo ishintshile kusukela ekuphumeni kokugcina komlayezo ekusakazeni okukhiphayo okunikeziwe. Umamukeli uhlola ukuthi ingabe idatha yomlayezo ishintshile kuphela ezikhathini ezichazwe izibalo (1),(2) lapho okuguquguqukayo kwesigaba kusethelwe kuziro, futhi ukuguquguquka kwesikhathi kusethelwa inani lenkambu yenkathi. Isigaba sepharamitha yokuhlela umlayezo, esilahlekelwa umsebenzi waso wangempela kulesi simo, manje sidlala indima yesikhathi sokukhipha esiphoqelelwe. “Okukhiphayo okuphoqelelwe” kusho ukuthi umlayezo ohambisanayo uzokhishwa noma ngabe okuqukethwe kwawo kuzobe kushintshile noma cha ngesikhathi esichazwe izibalo (1),(2) lapho ukuguquguquka kwesikhathi kusethelwe inani lenkambu yesigaba, futhi ukuguquguquka kwesigaba kusethelwe kuziro. Uma isigaba senkambu singuziro, umamukeli akenzi okukhiphayo okuphoqelelwe ukuze umlayezo ohambisanayo uphume kuphela esimweni sokuthi idatha yawo ishintshile.

GREIS

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ISINGENISO Okukhiphayo Kwezikhathi ezithile
Okukhipha Amafulegi
F_OUT_ON_ADD Uma leli fulegi lisethiwe, umlayezo wokuqala uzokhishwa ngokushesha ngemva kokwenza umyalo ohambisanayo we-em noma wokuphuma. Leli fulegi lishaywa indiva ngobuningi bemilayezo1.
F_NOTENA Uma leli fulegi lihlelelwe umlayezo ohlwini lokuphumayo, ifulegi le-F_DISABLED lalo mlayezo ngeke lisulwe lapho umlayezo unikwe amandla, ngakho-ke okukhiphayo kuzohlala kumisiwe. OkwesiboneloampFuthi, leli fulegi lisetshenziswa ukuze lingakhiphi eminye yemilayezo esuka kusethi ezenzakalelayo yemilayezo lapho umsebenzisi eshintsha isikhathi sokuphuma endizeni, ngaphandle kokukhubaza okukhiphayo kuqala.
F_FIX_PERIOD, F_FIX_PHASE, F_FIX_COUNT, F_FIX_PERIOD Njengoba isethelwe ku-1 kumapharamitha wokuhlela, vimbela izinguquko kunkambu ehambisanayo yale mingcele yokuhlela ngemiyalo ye-em ne-out.
F_DISABLED Ayihleleki ngokusobala ngumsebenzisi. Uma umuntu enika amandla umlayezo ngenani eliphozithivu, khona-ke, ngemva kokuba lo mlayezo usuyizikhathi zokubala okukhiphayo, umhleli womlayezo usetha leli fulegi ku-1. Leli fulegi lisulelwa ku-0 lapho umlayezo unikwa amandla kabusha, ngaphandle kwalapho umaka we-F_NOTENA usethelwe lo mlayezo.

1. Okwamanje imilayezo ye-GREIS emibili kuphela, [JP] kanye ne-[MF], ehlonipha leli fulegi.

GREIS

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Isahluko 2
ULIMI LOOKUFAKA LWEMUKELI

Lesi sahluko sichaza i-syntax kanye ne-semantics yolimi lokufakwayo komamukeli. Siqala ngama-ex athileampukuze unikeze umfundi umuzwa wolimi, bese uvula incazelo enemininingwane ye-syntax, bese uchaza yonke imiyalo echaziwe kanye ne-semantics yayo.

2.1 Ulimi ExampLes

Nawa ama-ex ambalwaampizitatimende zangempela umamukeli uyaziqonda kanye nezimpendulo zomamukeli. Uzothola ama-ex amaningiampukusebenzisa imiyalo ethile ezigatshaneni ezihambisanayo. Okokufaka kumamukeli kumakwa ngohlamvu, kuyilapho okukhiphayo kumamukeli kumakwa ngohlamvu:

Example: Cela umamukeli ukuthi aphrinte i-ID yakhe ye-elekthronikhi. Umamukeli ukhiqiza umlayezo wempendulo obonisiwe:

Example:

phrinta,/par/rcv/id I-RE00C QP01234TR45
Cela umamukeli ukuthi asethe izinga le-baud lembobo ye-serial A kuya ku-9600. Umamukeli uphumeza umyalo ngempumelelo futhi akenzi noma iyiphi impendulo.

setha,/par/dev/ser/a/rate,9600
Example: Sebenzisa umyalo ofanayo njengaku-ex yangaphambiliniample, kodwa phoqa umamukeli ukuthi akhiqize impendulo ngokusebenzisa isihlonzi sesitatimende.

Example:

%set_rate%set,/par/dev/ser/a/rate,9600 RE00A%set_rate%
Zama ukusetha izinga eliphezulu kakhulu le-baud. Umamukeli uphendula ngomlayezo wephutha nakuba singasebenzisanga isihlonzi sesitatimende.

setha,/par/dev/ser/a/rate,1000000 ER016{4,value out of range}

Qaphela:

Isamukeli sihlala sibeka izimpendulo zaso ezivamile nezinephutha emilayezweni emibili evamile, i-[RE] nethi [ER], ngokulandelana. Ukuze uthole ulwazi olwengeziwe ngefomethi yemilayezo ye-GREIS, bheka “Kufomethi Evamile Yemilayezo” ekhasini 64. Imilayezo ye-[RE] kanye no-[ER] ngokwawo ichazwa “Emilayezweni Esebenzisanayo” ekhasini le-129.

GREIS

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I-RECEIVER INPUT ULIMI Syntax yolimi
2.2 I-syntax yolimi
I-GREIS ichaza imigqa yezinhlamvu ze-ASCII ezinobude obungalingani1, enqunywa noma yiyiphi inqola yokubuyisela ( , ASCII ikhodi yedesimali 13), noma okuphakelayo komugqa ( , ASCII ikhodi yedesimali 10) izinhlamvu, zibe izici ze-syntax ezisezingeni eliphezulu zolimi. Imigqa engenalutho ivunyelwe futhi ayinakwa ku-GREIS. Ngenxa yalokho, umugqa ungahlukaniswa nganoma iyiphi inhlanganisela ye kanye/noma abalingiswa. Ivumela i-GREIS ukuthi isekele ngaphandle komthungo izivumelwano zokuphela komugqa we-WindowsTM, MacTM, kanye ne-UNIXTM.
Ulimi lokufakwayo komamukeli luyazwela. Kusho ukuthi, ngokwesiboneloampi-le, izintambo GREIS, greis, kanye ne-gReIs, okuyizintambo ezihlukene, ngempela kubhekwa kanjalo umamukeli.
Uphawu lwenombolo (#, ASCII code 35) luwuhlamvu lwesingeniso sokuphawula. Umamukeli uziba yonke into kusukela kulo mlingisi kuze kufike ekugcineni komugqa.
Ngemva kokuthi amazwana (uma ekhona) esusiwe emugqeni, umamukeli ususa izikhala eziholayo nezilandelanayo, bese ephula umugqa ube izitatimende. Izitatimende zihlukaniswa ngesemicolon (;, ASCII code 59), noma ngezimbili ampersands (&&, ASCII amakhodi 38), noma enamabha amabili ame mpo (||, ASCII amakhodi 124). Izitatimende ezisemugqeni zibe sezisetshenziswa ngokulandelana, ukusuka kwesobunxele kuye kwesokudla. Uma isitatimende esigcina ngokuthi && i-delimiter sikhiqiza iphutha, zonke ezinye izitatimende kulayini azisebenzi. Uma isitatimende esigcina ngokuthi || i-delimiter yenza ngempumelelo, zonke ezinye izitatimende kulayini azenziwanga. Isitatimende esigcina ngesemikholoni asilokothi siyeke ukwenzeka kokulandelana kwezitatimende. Qaphela ukuthi isiphetho somugqa siyisinqamuli sesitatimende ngokwaso, ngakho-ke awudingi ukubeka imingcele yesitatimende esicacile ekugcineni komugqa.
Isakhiwo sesitatimende simi kanje:
[%ID%][COMMAND][@CS] lapho abakaki abayisikwele bemelela izinkambu ozikhethela zona, futhi noma iyiphi inombolo yezikhala ezimhlophe ivunyelwe ngaphambi nangemuva kwayo yonke inkambu. Izikhala ezimhlophe ezinjalo azinakwa, ngaphandle kwenhloso yokubala kwe-checksum, bona ngezansi. Izinkambu yilezi:
%ID% isihlonzi sesitatimende, lapho i-ID isho iyunithi yezinhlamvu engafanele, okungenzeka ayinalutho. Isihlonzi, uma sikhona, sikopishwa singashintshiwe umamukeli emlayezweni wempendulo yesitatimende. Noma yisiphi isitatimende esinesihlonzi sizohlala sikhiqiza impendulo kumamukeli. Isitatimende esiqukethe kuphela isihlonzi sibuye sivunyelwe; Esimeni esinjalo, umamukeli uzovele enze umlayezo wokuphendula.
YALA uhlu (okungenzeka lungenalutho) lapho into yokuqala ibizwa ngegama lomyalo. Lisho isenzo okufanele senziwa. Ezinye izakhi (uma zikhona) zingumyalo

GREIS

1. Ukusetshenziswa kwamanje kwe-GREIS kubamukeli kusekela imigqa efinyelela ezinhlamvu ezingu-256 ubude.

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I-RECEIVER INPUT ULIMI Syntax yolimi
izingxabano. Izikaki ezizungeza uhlu lwemiyalo zingashiywa. Bheka “Uhlu” ekhasini 19 ukuze uthole i-syntax yohlu. @CS checksum, lapho i-CS ingu-8-bit checksum ifomethwe njengenombolo ye-hexadecimal engu-2-byte. Ngaphambi kokwenza isitatimende nge-checksum, umamukeli uzoqhathanisa i-checksum yokufaka i-CS naleyo efakwe ikhompuyutha yi-firmware futhi uzokwenqaba ukwenza isitatimende uma lezi zibalo zingafani. I-Checksum ibalwa kuqalwa ngohlamvu lokuqala olungangenalutho lwesitatimende kuze kube kuhlanganisa nohlamvu luka-@. Bheka okuthi “Computing Checksums” ekhasini 579 ukuze uthole imininingwane.
Isihlonzi sesitatimende, %ID%, sifeza lezi zinhloso ezilandelayo:
1. Iphoqa umamukeli esabela kumyalo. 2. Ivumela ukuthumela imiyalo eminingi enezihlonzi ezihlukene kumamukeli
ngaphandle kokulinda impendulo yawo wonke umyalo, bese uthola izimpendulo bese usho ukuthi iyiphi impendulo ehambisana nomuphi umyalo. 3. Isiza ukusungula ukuvumelanisa nomamukeli ngokuvumela ukuhlola ukuthi impendulo ethile yomamukeli ihambisana nomyalo othile, hhayi komunye umyalo okhishwe ngaphambi noma ngemva kwalokho.
Uhlu olubizwa ngezinketho lungangezwa kunoma iyiphi ingxenye ye-COMMAND ngemva kwekholoni (:, ASCII code 58). Uma uhlu lwezinketho luhlanganisa into eyodwa, izikaki ezizungezile zingashiywa. Uhlu lwezinketho olunezelwe ohlwini lusakaza kuzo zonke izici zohlu, nakuba izinketho ezinamathiselwe ngokusobala engxenyeni yohlu ziza kuqala kunezinketho ezisakazwayo. Okwesiboneloample,
{e1,{e2:{o1,,o3},e3}}:{o4,o5}
ilingana ne:
{e1:{o4,o5},{e2:{o1,o5,o3},e3:{o4,o5}}}
Qaphela futhi ukuthi inketho ye-o2 ephuthelwe ivumela kanjani inketho ye-o5 ukuthi isakaze ohlwini lwezinketho zesici se-e2.
Inombolo nencazelo yama-agumenti nezinketho emyalweni kuncike esenzweni esithile somyalo futhi ichazwa encazelweni yawo wonke umyalo womamukeli. Ukwengeza, uma incazelo yomyalo icacisa ezinye izinketho, kodwa ezinye noma zonke zigejiwe esitatimendeni, amanani amisiwe ezinketho ezigejiwe ayashintshwa. Amanani azenzakalelayo wezinketho nawo achazwa encazelweni yawo wonke umyalo womamukeli.

GREIS

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I-RECEIVER INPUT ULIMI Syntax yolimi

Ukuze uthole ireferensi, ngezansi ithebula elihlanganisa zonke izinhlamvu ezilandelanayo ezinencazelo ekhethekile kulimi lokufakwayo lomamukeli:

Ithebula 2-1. Ulimi Lokufaka Izinhlamvu Ezikhethekile

Ikhodi yedesimali yezinhlamvu ze-ASCII

Incazelo

isihlukanisi somugqa

;

isihlukanisi sezitatimende zophawu lokuqala lokuphawula

124

izitatimende nezitatimende zesihlukanisi noma uphawu lwesikhombi sesitatimende sesihlukanisi

{

123

}

125

uphawu lokuhlola isiqalo sohlu uphawu ekupheleni kohlu lwezimpawu zohlu lwezimpawu zesihlukanisi uphawu lwezinketho zesihlukanisi

”

uphawu lokucaphuna

phunyuka

GREIS

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RECEIVER ULIMI Imiyalelo
2.3 Imiyalo
Kulesi sigaba sichaza yonke imiyalo echazwe ku-GREIS. Ukucaciswa kwe-syntax kanye ne-semantics yawo wonke umyalo kuhambisana ne-ex echazayoampLes. Ukuze uthole incazelo enemininingwane yezinto ezisetshenziswe njengama-agumenti ku-exampNgakho-ke, sicela ubheke iSahluko 4 ekhasini 181.

GREIS

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2.3.1 isethi

RECEIVER INPUT LANGUAGE Imiyalo isethiwe

Igama
setha inani lesethi yento.
Amazwibela
Ifomethi: setha, into, inani Izinketho: akukho
Izingxabano
phikisa isihlonzi sento eqondiwe. Uma into ingaqali ngokuthi “/”, khona-ke isiqalo esithi “/par/” sishutheka ngokuzenzakalelayo ngaphambi kwento ngaphambi kokwenza umyalo.
xabisa inani elizonikezwa into eqondiwe. Ibanga lamanani avunyelwe kanye nesemantics yomsebenzi lincike ohlotsheni lwento futhi licaciswa kamuva kule manuwali kuyo yonke into esekelwayo.
Izinketho
Lutho.
Incazelo
Lo myalo unikeza inani entweni. Ayikho impendulo ekhiqizwayo ngaphandle uma kunephutha noma impendulo ephoqelelwe yisihlonzi sesitatimende.
ExampLes
Example: Setha isilinganiso se-baud se-serial port C sibe ngu-115200.
setha,/par/dev/ser/c/rate,115200 set,dev/ser/c/rate,115200
Example: Setha izinga le-baud le-serial port A libe ngu-9600 bese uphoqa impendulo:
%%set,dev/ser/a/rate,9600 RE002%%

GREIS

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2.3.2 phrinta

I-RECEIVER INPUT LANGUAGE Imiyalo phrinta

Igama
phrinta inani lokuphrinta lento.

Amazwibela
Ifomethi: phrinta, Izinketho zento: {names}

Izingxabano
phikisa isihlonzi sento okumele sikhishwe. Uma into ingaqali ngokuthi “/”, khona-ke isiqalo esithi “/par/” sishutheka ngokuzenzakalelayo ngaphambi kwento ngaphambi kokwenza umyalo.

Izinketho

Ithebula 2-2. phrinta isifinyezo sezinketho

Uhlobo Lwegama

Amanani

amagama boolean on,cishiwe

Okuzenzakalelayo
icishiwe

amagama uma evaliwe, akhipha amanani ezinto kuphela. Uma ivuliwe, khipha amagama ezinto ngaphezu kwamanani ento ngefomethi NAME=VALUE.
Incazelo
Lo myalo uphrinta inani lento, ngokuzikhethela ufaka isiqalo senani ngegama lento ehambisanayo. Impendulo ihlala ikhiqizwa, futhi umlayezo ongaphezu kowodwa [RE] ungakhiqizwa ngokuphendula umyalo wokuphrinta owodwa.
Inani lento yohlu lohlobo liphrintwa njengohlu lwamanani ayo yonke into esohlwini. Lokhu kusetshenziswa ngokuphindaphindiwe kuze kufinyelelwe izinto ezinamaqabunga, ngakho-ke ukuphrinta into yohlobo lweqabunga kukhipha yonke isihlahla esincane kusukela entweni ecacisiwe. Esimeni sokuphrinta kohlu, imilayezo eminingi [RE] ingase yenziwe. Nokho, ukuhlukaniswa kokuphumayo kungase kwenzeke ngokushesha ngemva kwezinhlamvu zesihlukanisi sohlu.

GREIS

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I-RECEIVER INPUT LANGUAGE Imiyalo phrinta
ExampLes
Example: Phrinta isikhathi samanje segridi yesikhathi somamukeli wangaphakathi. Okunye kwe:
phrinta,/par/raw/curmsint RE004 100 phrinta,iluhlaza/curmsint RE004 100
Example: Phrinta isikhathi samanje segridi yesikhathi somamukeli wangaphakathi kanye negama lento. Okunye kwe:
phrinta,/par/raw/curmsint:ku-RE015/par/raw/curmsint=100 phrinta,okuhlaza/curmsint:ku-RE015/par/raw/curmsint=100
Example: Ulwazi lwenguqulo yomamukeli wokuphrinta:
phrinta,rcv/ver RE028{“2.5 Sep,13,2006 p2″,0,71,MGGDT_5,none, RE00D {none,none}}
Example: Imininingwane yenguqulo yomamukeli kanye namagama ahambisanayo:
phrinta,rcv/ver:on RE043/par/rcv/ver={main=”2.5 Sep,13,2006 p2”,boot=0,hw=71,board=MGGDT_5, RE00C modem=none, RE017 pow={fw=none,hw=none}}
Example: Phrinta yonke imilayezo enikwe amandla ukuze ikhishwe ku-serial port B kanye nemingcele yayo yokuhlela:
phrinta,out/dev/ser/b:on RE02D/par/out/dev/ser/b={jps/RT={1.00,0.00,0,0×0}, RE01A jps/SI={1.00,0.00,0,0×0}, RE01A jps/rc={1.00,0.00,0,0,RE jps/ET={0×01}, RE1.00,0.00,0,0D nmea/GGA={0×01}}

GREIS

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2.3.3 uhlu

RECEIVER INPUT LANGUAGE Uhlu lwemiyalo

Igama
bhala uhlu lokuqukethwe kwento.
Amazwibela
Ifomethi: uhlu[,into] Izinketho: akukho
Izingxabano
phikisa isihlonzi sento okumele sikhishwe. Uma into ikhishiwe, /log ithathwa. Uma into ingaqali ngokuthi “/”, khona-ke “/log/” isiqalo sishutheka ngokuzenzakalelayo ngaphambi kwento ngaphambi kokwenza umyalo.
Izinketho
Lutho.
Incazelo
Lo myalo ukhipha amagama awo wonke amalungu ento. Impendulo ihlale ikhiqizwa, futhi umlayezo ongaphezu kowodwa [RE] ungakhiqizwa ngokuphendula umyalo wohlu olulodwa. Uma into eshiwo ingekho ohlwini lohlobo, umlayezo othi [RE] ongenalutho uyakhiqizwa. Uma into eshiwo kuwuhlu, uhlu lwamagama azo zonke izinto ohlwini luyaphrintwa. Lokhu kusetshenziswa ngokuphindaphindiwe kuze kube yilapho izinto ezinamaqabunga zifinyelelwa, ngakho ukufakwa kuhlu kwento yohlobo lweqabunga kukhipha yonke isihlahla esincane kusukela entweni ethile. Esimeni sokuphrinta kohlu, imilayezo eminingi [RE] ingase yenziwe. Nokho, ukuhlukaniswa kokuphumayo kungase kwenzeke ngokushesha ngemva kwezinhlamvu zesihlukanisi sohlu.
ExampLes
Example: Impendulo engenalutho yokufakwa kuhlu kwento engekho ohlwini:
uhlu,/par/rcv/ver/main RE000
Example: Impendulo yephutha yokufakwa kuhlu kwento engekho:
uhlu,/azikho_i-ER018{2,,ipharamitha yoku-1 engalungile}

GREIS

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RECEIVER INPUT LANGUAGE Uhlu lwemiyalo
Example: Thola uhlu lwelogi ekhona-files. Noma kwe
list,/log list
izokhiqiza okukhiphayo okufanayo, isb:
RE013{log1127a,log1127b}
Example: Faka kuhlu yonke imilayezo ye-GREIS ejwayelekile esekelwa umamukeli:
list,/msg/jps RE03D{JP,MF,PM,EV,XA,XB,ZA,ZB,YA,YB,RT,RD,ST,LT,BP,TO,DO,OO,UO,GT, RE040 NT,GO,NO,TT,PT,SI,NN,EL,AZ,SS,FC,RC,rc,PC,pc,CP,cp,DC,CC,cc,EC, RE040 CE,TC,R1,P1,1R,1P,r1,p1,1r,1p,D1,C1,c1,E1,1E,F1,R2,P2,2R,2P,r2, RE040 p2,2r,2p,D2,C2,c2,E2,2E,F2,ID,PV,PO,PG,VE,VG,DP,SG,BI,SE,SM,PS, RE040 GE,NE,GA,NA,WE,WA,WO,GS,NS,rE,rM,rV,rT,TM,MP,TR,MS,DL,TX,SP,SV, RE031 RP,RK,BL,AP,AB,re,ha,GD,LD,RM,RS,IO,NP,LH,EE,ET}
Example: Faka kuhlu yonke imilayezo kusethi emisiwe yemilayezo:
list,/msg/def RE040{jps/JP,jps/MF,jps/PM,jps/EV,jps/XA,jps/XB,jps/RT,jps/RD,jps/SI, RE040 jps/NN,jps/EL,jps/FC,jps/RC,jps/DC,jps/TC1,jps/EC/EC jps/040P,jps/1R,jps/2P,jps/E2,jps/D1,jps/E2,jps/SS,jps/SE,jps/PV, RE2 jps/ST,jps/DP,jps/TO,jps/DO,jps/UO,jps/IO,jps/GE,jps/GA jps/NA,jps/WE,jps/WA,jps/WO}

GREIS

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GREIS

2.3.4 em & ngaphandle

ULIMI OLUFAKAYO LOKUPHAKATHI Imiyalo em & ukuphuma

Igama
em, ngaphandle vumela ukukhishwa kwemiyalezo ngezikhathi ezithile.

Amazwibela
Ifomethi: Ifomethi: Izinketho:

em,[thagethi],imiyalezo ephumile,[thagethi],imilayezo {inkathi, isigaba, ukubala, amafulegi}

Izingxabano
qondisa noma yikuphi ukusakaza okukhiphayo noma isethi yomlayezo. Uma kungekho okuhlosiwe okucacisiwe, ukuphela kwamanje, /cur/term, kuyacatshangelwa.
ithumela imiyalezo ohlwini (okunama-braces azungezile noma ngaphandle kwawo) kwamagama emiyalezo kanye/noma amagama asethiwe azovulwa. Uma amanye amagama ashiwo engaqali ngokuthi “/”, kusho ukuthi “/msg/” isiqalo sishutheka ngokuzenzakalelayo ngaphambi kwalawo magama ngaphambi kokwenza umyalo.

Izinketho

Ithebula 2-3. isifinyezo sezinketho ze-em nokuphuma

Uhlobo Lwegama

Amanani

Okuzenzakalelayo

isikhathi sokuntanta [0…86400)

–

ukuntanta kwesigaba [0…86400)

–

ukubala inombolo ephelele [-256…32767] 0 ku-em 1 ngokuphuma

inombolo ephelele yamafulegi [0…0xFFFF] -

isikhathi, isigaba, ukubala, amafulegi amapharamitha wokuhlela umlayezo.
Incazelo
Le miyalo inika amandla ukukhishwa ngezikhathi ezithile kwemilayezo eshiwo kulokho okuqondiwe, iphoqelela imingcele yokuhlela umlayezo ukuthi ibe yileyo ecaciswe izinketho. Ayikho impendulo ekhiqizwayo ngaphandle uma kunephutha, noma impendulo iphoqelelwe yisihlonzi sesitatimende.
Imiyalo ye-em ne-out iyafana ngaphandle kwevelu emisiwe yenketho yokubala isethwe ukuze ithi 0 ku-em, kanye no-1 kokuphuma. I-out Command iyindlela elula yokucela

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ULIMI OLUFAKAYO LOKUPHAKATHI Imiyalo em & ukuphuma

Qaphela:

okukhipha kanyekanye kwemiyalezo. Sizokhuluma ngama-em kuphela kule ncazelo nakuba konke kusebenza nangaphandle.
Incazelo engezansi ilindele ukuthi umfundi ujwayelene nezinto ezisesigabeni esithi “Okukhiphayo Ngezikhathi” ekhasini 22.
Kuwo wonke ukusakaza okukhiphayo, kunohlu oluhambisanayo lokuphumayo lwemilayezo1,2 enikwe amandla okwamanje ukuthi ikhiphe ekusakazweni okunikeziwe. Uma umlayezo udluliswa njengokungqubuzana kokuthi umyalo we-em ungekho ohlwini lokuphumayo okwamanje, umyalo we-em uhlanganisa umlayezo oshiwo ekupheleni kohlu. Uma umlayezo odluliselwe kumyalo we-em usuvele usohlwini lokuphumayo, umyalo we-em uvele uguqule amapharamitha wokuhlela alo mlayezo futhi awuguquli indawo yomlayezo phakathi kohlu.
Njengoba umyalo we-em uhlanganisa imilayezo eshiwo ohlwini lokuphumayo, ngokuvamile kuwumqondo omuhle ukusebenzisa umyalo we-dm ukusula uhlu lokuphumayo lokusakaza okunikeziwe ngaphambi kokukhipha imiyalo ye-em.
Umyalo we-em ucubungula imilayezo ohlwini lomlayezo owodwa ngesikhathi, ukusuka kwesokunxele kuye kwesokudla, futhi kusukela kumlayezo wokuqala womlayezo osethwe kumlayezo wokugcina wesethi yomlayezo. Uma kwenzeka ihlangabezana negama elingahambisani nanoma yimuphi umlayezo owamukelayo osekelwayo noma isethi yomlayezo, ikhumbula ukuthi kube nephutha ngesikhathi isayinda, kodwa ayikuyeki ukucutshungulwa kohlu lwemilayezo. Ngale ndlela yonke imilayezo evela ohlwini lwemilayezo engase inikwe amandla izonikwa amandla, futhi iphutha elilodwa kuphela elizobikwa lapho umlayezo owodwa noma eminingi eshiwo ingakwazi ukunikwa amandla.
Uma umyalo we-em ucubungula umlayezo oseduze, amapharamitha wokugcina wokuhlela umlayezo osebenzayo ohlwini oluhambisanayo lokuphumayo lwemilayezo abalwa kucatshangelwa imithombo eminingi yolwazi mayelana nokuhlela amapharamitha, ikakhulukazi:
1. Amanani acaciswe ngokucacile kuzinketho zomyalo we-em.
2. Amanani azenzakalelayo wezinketho zomyalo we-em.
3. Izimiso zokuhlela ezishiwo kumlayezo onikeziwe njengengxenye yesethi yomlayezo ohambelanayo. Lokhu kucatshangelwa kuphela lapho uvumela umlayezo ngokucacisa isethi yomlayezo, hhayi umlayezo owodwa.
4. Imingcele yamanje yokuhlela yomlayezo ohlwini oluhambisanayo lokuphumayo (uma ikhona).
5. Izimiso zokuhlela ezizenzakalelayo ezibalulwe umyalezo onikeziwe njengengxenye yeqembu lemiyalezo ehambisanayo.
Imithombo engenhla yamapharamitha isohlwini lokulandelana kokuvela kwayo, owokuqala onokuzandulela okuphezulu kakhulu, futhi isetshenziswa ngawodwana kupharamitha ngayinye yokuhlela okune. Ngakho-ke, amanani asuka ku-(1) akhipha amanani ukusuka ku-(2), inani eliwumphumela

GREIS

1. Ngokusakaza NAME, uhlu oluhambisanayo lokuphumayo lubizwa ngokuthi /par/out/NAME 2. I-firmware yamanje inomkhawulo ongenamthetho wenombolo enkulu yemilayezo ohlwini lokuphumayo olusethwe ku-49.

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ULIMI OLUFAKAYO LOKUPHAKATHI Imiyalo em & ukuphuma

ikhipha inani elisuka ku-(3), njll. Nokho, uma amanye amabhithi e-F_FIX_PERIOD, F_FIX_PHASE, F_FIX_COUNT, noma F_FIX_FLAGS asethwe kunkambu yamafulegi yomthombo olandelayo, izinkambu ezihambisanayo zalo mthombo olandelayo ngeke zikhishwe.

ExampLes

Example: Nika amandla ukuphuma kwesikhathi esisodwa komlayezo we-NMEA GGA kutheminali yamanje:

em,,nmea/GGA:{,,1}

Okufanayo nangenhla, kodwa ukusebenzisa ngaphandle esikhundleni se-em:

ngaphandle,,nmea/GGA
Example: Nika amandla okukhiphayo kwesethi ezenzakalelayo yemiyalezo kulogi yamanje-file A usebenzisa amapharamitha okukhiphayo azenzakalelayo. Okunye kwe:

Example:

em,/cur/file/a,/msg/def em,/cur/file/a, def
Nika amandla okukhiphayo kwesethi ezenzakalelayo yemilayezo kulogi yamanje-file A njalo ngemizuzwana eyi-10 Kweminye imingcele yokuphumayo, amanani awo azenzakalelayo azosetshenziswa:

em,/cur/file/a,def:10
Example: Nika amandla okukhiphayo kwesethi ezenzakalelayo yemilayezo kutheminali yamanje usebenzisa imingcele yokuphuma ezenzakalelayo. Okunye kwe:

Example:

em,/cur/term,/msg/def em,,/msg/def em,,def
Nika amandla okukhiphayo kwemilayezo ye-GREIS [~~](RT) kanye ne-[RD] kutheminali yamanje. Okunye kwe:

Example:

em,,/msg/jps/RT,/msg/jps/RD em,,jps/{RT,RD}
Nika amandla okukhiphayo kwemiyalezo ye-NMEA i-GGA ne-ZDA kutheminali yamanje njalo ngemizuzwana engama-20:

Example:

em,,nmea/{GGA,ZDA}:20
Nika amandla okukhiphayo kwemilayezo [SI], [EL] kanye ne-[AZ] kumbobo ye-serial A. Setha imingcele yeshejuli ye-[SI] ukuze isikhawu phakathi kwanoma yimiphi imilayezo emibili elandelayo ye-[SI] ilingane namasekhondi angu-10, uma iqondana, kanye nesekhondi elingu-1 ngenye indlela; khipha kuphela imilayezo yokuqala engamashumi amahlanu [SI]. Ngaphezu kwalokho, umamukeli, setha isikhawu sokukhiphayo sibe imizuzwana emi-2 yemilayezo ye-[EL] kanye ne-[AZ]:

em,/dev/ser/a,jps/{SI:{1,10,50,0×2},EL,AZ}:2

GREIS

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ULIMI OLUFAKAYO LOKUPHAKATHI Imiyalo em & ukuphuma
Example: Nika amandla okukhiphayo kwe-RTCM 2.x izinhlobo zomlayezo 1 no-31 kumbobo ye-serial B ngesikhawu sokukhiphayo amasekhondi angu-3, kanye nezinhlobo zomlayezo we-RTCM 2.x 18, 19, 3, 22 ukuya ku-port C ngesikhawu sokukhiphayo isekhondi elingu-1 lezinhlobo ezingu-18 no-19; kanye namasekhondi angu-10 ezinhlobo 3 no-22:
em,/dev/ser/b,rtcm/{1,31}:3; em,/dev/ser/c,rtcm/{18:1,19:1,22,3}:10
Example: Enza ngendlela oyifisayo isethi ezenzakalelayo yemilayezo ukuze iqukathe kuphela i-NMEA ZDA ne-GGA:
dm,/msg/def em,/msg/def,/msg/nmea/{ZDA,GGA}

GREIS

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2.3.5 dm

ULIMI LWERECEIVER OKUFAKAYO Imiyalo dm

Igama
dm khubaza ukuphuma kwemiyalezo ngezikhathi ezithile.
Amazwibela
Ifomethi: dm[,[target][,messages]] Izinketho: akukho
Izingxabano
qondisa noma yikuphi ukusakaza okukhiphayo noma isethi yomlayezo. Uma kungekho okuhlosiwe okucacisiwe, ukuphela kwamanje, /cur/term, kuyacatshangelwa. Uma amanye amagama ashiwo engaqali ngokuthi “/”, kusho ukuthi “/msg/” isiqalo sishutheka ngokuzenzakalelayo ngaphambi kwalawo magama ngaphambi kokwenza umyalo.
ithumela imiyalezo yohlu lwemiyalezo okumele lucishwe, ngezibambi ezizungezile noma ngaphandle kwazo, nanoma yiliphi iqembu lemiyalezo noma isethi yomlayezo. Uma ingekho imilayezo eshiwo, konke okukhiphayo ngezikhathi ezithile kuya kokuqondisiwe kuyacishwa.
Izinketho
Lutho.
Incazelo
Lo myalo ukhubaza ukuphuma ngezikhathi ezithile kwemilayezo eshiwo entweni eqondiwe. Ayikho impendulo ekhiqizwayo ngaphandle uma kunephutha, noma impendulo iphoqelelwe yisihlonzi sesitatimende.
Uma ingekho imilayezo eshiwo, konke okukhiphayo ngezikhathi ezithile kuya kokuqondisiwe kuyacishwa. Uma okuqondiwe kuyilogi yamanje-file futhi akukho miyalezo ecacisiwe, konke okukhiphayo ku- file ikhubazekile, i file ivaliwe, kanye nelogi ehambisanayo yamanje-file isethwe kwaba ingekho.
Uma umlayezo ushiwo ohlwini lwemilayezo onganikwanga amandla okwamanje ukuze ukhiphe ithagethi enikeziwe, alikho iphutha elihambisanayo elikhiqizwa umyalo we-dm. Yize lesi simo singavali amanye amaphutha okungenzeka ukuthi abikwe.
ExampLes
Example: Khubaza yonke imilayezo ephumayo kulogi yamanje-file A bese uvala i- file:
dm,/cur/file/a

GREIS

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ULIMI LWERECEIVER OKUFAKAYO Imiyalo dm
Example: Khubaza konke okukhiphayo ngezikhathi ezithile kutheminali yamanje. Okunye kwe:
dm,/cur/term dm
Example: Khubaza okukhiphayo komlayezo we-GREIS [~~](RT) ku-serial port B:
dm,/dev/ser/b,/msg/jps/RT
Example: Khubaza ukuphuma komlayezo we-GREIS [DO] kulogi yamanje-file B:
dm,/cur/file/b,/msg/jps/DO
Example: Susa umlayezo we-GREIS [PM] kusethi ezenzakalelayo yemilayezo:
dm,/msg/def,/msg/jps/PM
Example: Khubaza ukuphuma kwayo yonke imilayezo ye-NMEA kutheminali yamanje:
dm,/cur/term,/msg/nmea
Example: Khubaza okukhiphayo kwemiyalezo ye-NMEA i-GGA ne-ZDA kutheminali yamanje. Okunye kwe:
dm,/cur/term,/msg/nmea/GGA,/msg/nmea/ZDA dm,,/msg/nmea/GGA,/msg/nmea/ZDA dm,,nmea/GGA,nmea/ZDA dm,,nmea/{GGA,ZDA}

GREIS

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2.3.6 isiqalo

ULIMI LWERECEIVER OKUFAKAYO Imiyalo init

Igama
init qala izinto.

Amazwibela
Ifomethi: init,object[/] Izinketho: akukho

Izingxabano
phikisa into ezoqaliswa. / uma ikhona futhi into iwuhlu lohlobo, qalisa zonke izinto eziqukethwe esikhundleni salokho
wento ngokwayo.

Izinketho
Lutho.

Qaphela: Qaphela:

Incazelo
Lo myalo uqalisa izinto ezithile. Ayikho impendulo ekhiqizwayo ngaphandle uma kunephutha, noma impendulo iphoqelelwe yisihlonzi sesitatimende.
I-semantics enembile yokuqalisa incike entweni eqaliswayo, kodwa ngokuvamile ingabhekwa njengokuguqulela into esimweni sayo "esimisiwe" noma "esihlanzekile". Okwesiboneloample, kumapharamitha kusho ukubeka amanani awo kokuzenzakalelayo okuhambisanayo, kwe fileisitoreji kusho ukufometha kabusha okuphakathi, njll.
Ukuqalisa ezinye zezinto kuzoholela ekuqaliseni kabusha umamukeli. Lokhu okwamanje kuyindlela yokuqaliswa kwememori engaguquki umamukeli (/dev/nvm/a).
Nakuba kungase kushintshe esikhathini esizayo, ukusetshenziswa kwamanje kwalo myalo ojwayelekile kubamukeli kunomkhawulo. Eqinisweni kuphela ukuqaliswa kwezinto ezitholakala ku-exampokungezansi kusekelwa okwamanje.

ExampLes
Example: Sula i-NVRAM bese uqala kabusha isamukeli. Yonke idatha egcinwe ku-NVRAM (almanacs, ephemeris, njll.) izolahleka, wonke amapharamitha azosethwa kumanani awo azenzakalelayo ngemva kokuqalisa kabusha:
init,/dev/nvm/a
Example: Sula ama-ephemeris:
init,/eph/

GREIS

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ULIMI LWERECEIVER OKUFAKAYO Imiyalo init
Example: Setha wonke amapharamitha omamukeli kumanani awo azenzakalelayo:
init,/par/
Example: Setha wonke amapharamitha e-WLAN kumanani awo azenzakalelayo. Ukuqalisa kabusha kweyunithi kuyadingeka ukuze izinguquko zisebenze:
init,/par/net/wlan/
Example: Qalisa i file uhlelo (okungukuthi, lungisa kabusha imidiya engaphansi). Konke fileokugcinwe kumamukeli kuzolahleka:
init,/dev/blk/a
Example: Qalisa wonke amasethi omlayezo emananini awo azenzakalelayo:
init,/msg/

GREIS

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2.3.7 dala

ULIMI OLUFAKAYO LOKUPHUMA Imiyalo dala

Igama
dala dala into entsha.

Amazwibela
Ifomethi: dala[,into] Izinketho: {log}

Izingxabano
isihlonzi sento yento ezokwakhiwa. Uma into ingaqali ngokuthi “/”, khona-ke “/log/” isiqalo sishutheka ngokuzenzakalelayo ngaphambi kwento ngaphambi kokwenza umyalo. Uma ikhishiwe, khona-ke ukwakhiwa kwe-a file kucatshangwa futhi iyingqayizivele file igama likhiqizwa ngokuzenzakalelayo.

Izinketho

Ithebula 2-4. dala isifinyezo sezinketho

Amanani Ohlobo Lwegama
iyunithi yezinhlamvu yelogi a,b,...

Okuzenzakalelayo
a

ngena ngemvume -file okudaliwe file izokwabelwa. Ilogi-file okukhethiwe ngu/cur/log/X, lapho u-X eyinani lenketho1.
Incazelo
Lo myalo udala into entsha. Ayikho impendulo ekhiqizwayo ngaphandle uma kunephutha, noma impendulo iphoqelelwe yisihlonzi sesitatimende.
Kokubili indawo esihlahleni kanye nohlobo lwento edaliwe kuchazwa ingxabano yento.
Izinhlobo ezimbili zezinto zingadalwa:
1. Files. Okusha file kwakhiwa noma nini lapho isihlonzi sento sicacisa into /log sub-tree, noma lapho i-agumenti yento ikhishiwe.
2. Izicacisi zemiyalezo. Isicacisi esisha somlayezo siyakhiwa noma nini lapho isihlonzi sento sicacisa into ethile kusethi yomlayezo (isb, /msg/def).

GREIS

1. I-firmware yamanje isekela ilogi eyodwa noma ezimbili ngasikhathi sinye-files kuye ngomamukeli othile.

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ULIMI OLUFAKAYO LOKUPHUMA Imiyalo dala
Iyakha Files
Lapho udala files, ukungqubuzana kwento kungenzeka kushiywe noma kunefomethi /log/NAME, lapho NAME kuyigama le file ukuthi idalwe, futhi /log/ iyakhethwa. Esimweni sangaphambili umamukeli uzokhetha ngokuzenzakalelayo igama eliyingqayizivele le file. Endabeni yakamuva i-NAME eshiwo kufanele kube iyunithi yezinhlamvu efinyelela kwezingu-31 futhi akufanele iqukathe izikhala noma izinhlamvu ezilandelayo: “,{}()@&”/”.
Uma i file /log/NAME isivele ikhona, umyalo wokudala uzohluleka futhi ukhiqize umlayezo wephutha. Ngenxa yalokho, ayikho indlela yokuhlanganisa ezinye ezikhona files ngomyalo wokudala.
Ngemva okusha file idalwe ngempumelelo, yabelwa kwenye yelogi yamanje-files kuye ngevelu yelogi_file inketho. Uma umbhalo ohambisanayo-file usevele ukhomba omunye file lapho ukudala kwenziwa, i-log-file izovalwa futhi okukhiphayo kuqhubekele kokusha file ngaphandle kokuphazamiseka.
Ukudala Izicacisi Zomlayezo
Lapho wengeza imilayezo kusethi yomlayezo, i-agumenti yento inefomethi ethi /msg/SET/GROUP/MSG, lapho SET kuyigama lomlayezo osethwe lapho umlayezo omusha kufanele udalwe khona, GROUP igama leqembu umlayezo okulo, futhi i-MSG igama lomlayezo ngokwawo (isb, /msg/def/nmea/GGA, noma /msg/jps/rtk/min).
Izinhlaka zokuhlela umlayezo zizokopishwa kulawo achazelwe umlayezo onikeziwe eqenjini lemiyalezo. Sebenzisa umyalo wokusetha ukuze wenze ngendlela oyifisayo amapharamitha wokuhlela uma kudingeka.
ExampLes
Iyakha Files
Example: Dala entsha file ngegama elikhiqizwe ngokuzenzakalelayo futhi unikeze ilogu yamanjefile A (/cur/file/a). Okunye kwe:
dala dala,:a
Example: Dala ilogi entsha-file negama elithi “my_file”. Okunye kwe:
dala,/log/my_file:dala,my_file
Example: Dala files“file1" kanye "file2”, bese ubabela ukuthi/cur/file/a kanye /cur/file/b:
dala,file1:a; dala,file2:b

GREIS

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ULIMI OLUFAKAYO LOKUPHUMA Imiyalo dala
Ukudala Izicacisi Zomlayezo
Example: Faka /msg/jps/ET imiyalezo kusethi ezenzakalelayo yemiyalezo:
dala,/msg/def/jps/ET
Example: Engeza umlayezo we-NMEA GGA kusethi emisiwe yemilayezo futhi uphoqelele isikhathi saso nesigaba ukuthi sihlale singu-10 no-5, ngokulandelana, kungakhathaliseki ukuthi yimaphi amanani azo azocaciswa kumyalo we-em noma wokuphuma:
dala,/msg/def/nmea/GGA set,/msg/def/nmea/GGA,{10,5,,0×30}

GREIS

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2.3.8 susa

RECEIVER INPUT LANGUAGE Imiyalo susa

Igama
khipha susa into.
Amazwibela
Ifomethi: susa, into[/] Izinketho: akukho
Izingxabano
isihlonzi sento yento ezokhishwa. Uma into ingaqali ngokuthi “/”, khona-ke “/log/” isiqalo sishutheka ngokuzenzakalelayo ngaphambi kwento ngaphambi kokwenza umyalo.
/ uma ikhona futhi into iwuhlu lohlobo, susa konke okuqukethwe esikhundleni sento ngokwayo.
Izinketho
Lutho.
Incazelo
Lo myalo ususa (ususa) into ekhona. Ayikho impendulo ekhiqizwayo ngaphandle uma kunephutha, noma impendulo iphoqelelwe yisihlonzi sesitatimende. Uma ingekho into ecaciswe into, noma uma into ingakwazi ukususwa, kwenziwa iphutha. Izinhlobo ezimbili zezinto zingasuswa:
1. Files. Uma ngabe file ingenye yelogi-files, umyalo uzohluleka futhi umlayezo wephutha uzokhiqizwa.
2. Izicacisi zemiyalezo ezivela kumasethi emiyalezo.
ExampLes
Example: Susa ilogu-file enegama elithi “NAME”. Okunye kwe:
susa,/log/NAME susa,NAME
Example: Susa wonke amalogi-files:
susa,/log/

GREIS

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RECEIVER INPUT LANGUAGE Imiyalo susa
Example: Susa umlayezo ojwayelekile we-GREIS [GA] kusethi ezenzakalelayo yemilayezo:
susa,/msg/def/jps/GA
Example: Susa yonke imilayezo kusethi emisiwe yemilayezo:
susa,/msg/def/
Example: Susa yonke imilayezo kusethi encane yemilayezo evamile ye-GREIS efanele i-RTK:
susa,/msg/rtk/jps/min/

GREIS

www.javad.com

2.3.9 umcimbi

I-RECEIVER INPUT LANGUAGE Imiyalo yomcimbi

Igama
umcimbi ukhiqize umcimbi wefomu lamahhala.

Amazwibela
Ifomethi: umcimbi, Izinketho zochungechunge: akukho

Izingxabano
iyunithi yezinhlamvu engu-1 ehlanganisa izinhlamvu ezingafika kwezingu-63.

Izinketho
Lutho.

Qaphela: Example:

Incazelo
Lo myalo udala umcimbi wefomu lamahhala. Ayikho impendulo ekhiqizwayo ngaphandle uma kunephutha, noma impendulo iphoqelelwe yisihlonzi sesitatimende.
Iyunithi yezinhlamvu enikeziwe kanye nesikhathi sokuthola umyalo womcimbi kugcinwa kumamukeli kubhafa yomcimbi okhethekile2. Okuqukethwe yile buffer kukhishwa kuyo yonke imifudlana ephumayo lapho umlayezo ojwayelekile we-GREIS [==](EV) (ochazwe ekhasini 131) unikwe amandla.
Indlela yomcimbi wefomu yamahhala ihloselwe izinhlelo zokulawula ukudlulisa ulwazi lombhalo olunganasizathu kuzinhlelo zokusebenza ezicutshungulwayo ngaphandle kokuhumusha lolu lwazi kumamukeli. Umongo womamukeli we-firmware awulokothi uzenzele imicimbi yefomu yamahhala ngokwawo, futhi awutoliki ngandlela thize ulwazi oluthunyelwe ngemiyalo yomcimbi.
Zonke izintambo eziqala ngohlamvu lwe-underscore (ASCII 0x5F) zibekelwe izinhlelo zokusebenza ze-JAVAD GNSS. Kufanele kuqashelwe ukuthi izintambo ezinjalo azisetshenziswa nemiyalo yomcimbi ngaphandle kwalapho ungakwazi ukufeza umsebenzi wakho ngenye indlela noma uhlose ukubambisana nesofthiwe ye-JAVAD GNSS. Esimeni sakamuva sicela ubhekisele encazelweni enemininingwane yemicimbi yamahhala egcinelwe izinhlelo zokusebenza ze-JAVAD GNSS kumhlahlandlela othi “Ifomethi Yohlaka Lwemicimbi Yamahhala”, etholakala ku-http://www.javad.com.
Khiqiza umcimbi wamahhala oqukethe iyunithi yezinhlamvu ethi “Info1″:
umcimbi, Ulwazi1

GREIS

1. Khumbula ukuthi uma iyunithi yezinhlamvu iqukethe noma yiziphi izinhlamvu ezigcinelwe ulimi lokufakwayo lomamukeli, kufanele ufake lolu chungechunge ngezingcaphuno ezimbili.
2. I-firmware yamanje inikeza isigcinalwazi esikhulu ngokwanele ukuthi sigcine imicimbi yefomu yamahhala ye-64 byte.

www.javad.com

I-RECEIVER INPUT LANGUAGE Imiyalo yomcimbi
Example: Khiqiza umcimbi wamahhala oqukethe izinhlamvu ezigodliwe:
umcimbi,”UMCIMBI{DATA,THUMILE}”
Example: Khiqiza umcimbi wefomu lamahhala ubekelwe isoftware yohlelo lokusebenza lwe-JAVAD GNSS (lo mcimbi wazisa uhlelo lokusebenza lwangemva kokucubungula mayelana nokushintsha kwamandla):
umcimbi,”_DYN=STATIC”
Example: Khiqiza ifomu lamahhala ngentambo engenalutho:
umcimbi,”
Example: Khiqiza imicimbi embalwa yamahhala futhi uthole imilayezo engu-[==](EV) (kokuqukethwe [==] emilayezweni amabhayithi angaphrinteki athathelwa indawo amachashazi ku-ex.ample):
em,,jps/EV %umcimbi owamukelwe%,"uchungechunge oluthile" RE00A%accepted% ==011…..some_string. %1% umcimbi,1; %2% umcimbi,2 RE003%1% RE003%2% ==007…..1. ==007…..2. dm,,jps/EV

GREIS

www.javad.com

2.3.10 thola

RECEIVER INPUT ULIMI Imiyalo get

Igama
qala ukubuyisa file okuqukethwe usebenzisa i-DTP1.

Amazwibela
Ifomethi: thola,into[,offset] Izinketho: {timeout,block_size,period,isigaba,imizamo}

Izingxabano
isihlonzi sento ye- file azolandwa. Uma into ingaqali ngokuthi “/”, khona-ke “/log/” isiqalo sishutheka ngokuzenzakalelayo ngaphambi kwento ngaphambi kokwenza umyalo. Uma into ingekho noma ingakwazi ukubuyiswa, umlayezo wephutha uyakhiqizwa.
offset offset ngamabhayithi kusukela ekuqaleni kwe file lapho ungaqala khona ukubuyisa. Uma ikhishiwe, kuthathwa u-0.

Izinketho

Ithebula 2-5. thola isifinyezo sezinketho

Igama

Uhlobo

Amanani

isikhathi siphelile

inombolo ephelele [0…86400], imizuzwana

inombolo ye-block_size [1…163841]

isikhathi

ukuntanta [0…86400), imizuzwana

isigaba

ukuntanta [0…86400), imizuzwana

inombolo ephelele yemizamo [-257…100] 1. 2048 yabamukeli abangasekeli i-TCP noma i-USB.

Okuzenzakalelayo
10 512 0 0 10

ukuphela kwesikhathi sokuvala se-DTP. block_size usayizi webhulokhi yedatha ye-DTP. isikhathi sokukhipha sokuhlunga (bona ngezansi). isigaba sesigaba sokuphumayo sokuhlunga (bona ngezansi). izama incazelo eyehlukene kuye ngobubanzi, kanje:

1. Bheka “Iphrothokholi Yokudluliswa Kwedatha” ekhasini 580.

GREIS

www.javad.com

RECEIVER INPUT ULIMI Imiyalo get
[1…100] inombolo enkulu yemizamo ezothathwa isidlulisi se-DTP ukuthumela ibhulokhi eyodwa. Uma isethelwe ku-1, imodi yokusakaza ekhethekile iyacushwa (bona ngezansi).
0 kunokuba uqale i-DTP, khipha okuqukethwe okungahluziwe kwento. [-256…-1] kunokuba uqale i-DTP, khipha okuqukethwe kwento esongwe kukho
[>>] imilayezo.
-257 kunokuba uqale i-DTP, khipha okuqukethwe kwento esongwe kumilayezo engu-[RE].
Incazelo
Lo myalo uqala ukubuyisa i-a file kukhompuyutha yokusingatha usebenzisa i-Data Transfer Protocol (DTP) noma ifomethi yokukhiphayo eluhlaza. Ayikho impendulo ekhiqizwayo ngaphandle uma kunephutha, noma impendulo iphoqelelwe yisihlonzi sesitatimende.
Uma ukumodi ye-DTP, ngemva kokuba umyalo wokuthola uphumelele, isidlulisi se-DTP siqalwa kumamukeli futhi silinde isamukeli se-DTP ukuthi siqaliswe kumsingathi. Ngakho-ke, ukubuyisa noma iyiphi idatha, umuntu udinga ukuqaliswa kwesamukeli se-DTP kumsingathi.
I-agumenti yokuzikhethela ye-offset ivumela umsingathi ukuthi asebenzise ukusekela ukuze kuqaliswe kabusha ukudluliswa kwedatha okuphazamisekile. Qaphela ukuthi ukufuna i-offset enkulu kungase kudinge isikhathi eside ukwenza kumamukeli. Ukuze usebenzise kahle ukuqalisa kabusha kusofthiwe yomsingathi, phoqa umamukeli ukuthi aphendule kumyalo wokuthola usebenzisa isihlonzi sesitatimende bese ulinda impendulo evela kumamukeli ngaphambi kokusebenzisa i-DTP kumsingathi. Le ndlela ithatha i-advantage yokuthi umamukeli uphendula umyalo wokuthola ngemva kokufuna kwenziwe.
Uma inketho yemizamo isethelwe ku-1, isidlulisi se-DTP sizofakwa kulokho okubizwa ngemodi yokusakaza. Kule modi, ngemva kokuthola i-NACK yokuqala kumamukeli we-DTP, isidluliseli se-DTP sizosakaza amabhulokhi wedatha ngaphandle kokulinda ama-ACK avela kumamukeli we-DTP, futhi umthumeli uzokhipha ngokushesha ukudluliswa kwedatha uma i-NACK yamukelwe. Le ndlela ivumela ukudluliswa kwedatha ngokushesha okukhulu ngoxhumo oluthembekile olunokubambezeleka okuphezulu (okufana ne-TCP) noma ukushintshwa kokuqondisa okuphakeme kakhulu (okufana ne-USB). Ukwamukela ingxenye yephrothokholi esetshenziswe kahle akudingi ukunakekelwa okukhethekile ukusekela le ndlela.
Uma inketho yenkathi inguziro imodi yokuhlunga ekhethekile iyacushwa. Okwesiboneloample, ivumela ukulanda idatha ye-1Hz ku-a file lokho kwabhalwa kusetshenziswa izinga lokubuyekeza le-10Hz. Ngokukhethekile, umamukeli uzothumela idatha kuphela yezinkathi lapho umamukeli wesikhathi sosuku olulodwa (Tr) enelisa isibalo esilandelayo:
Tr {mod period} = isigaba
Ukufeza lokhu, umamukeli uhlaziya okuqukethwe kwe file futhi ihlunga eminye yemilayezo. Qaphela ukuthi ukuqaliswa kokuqalisa kabusha ukulanda okuphazamisekile kunzima kakhulu uma

GREIS

www.javad.com

RECEIVER INPUT ULIMI Imiyalo get

akunakwenzeka kulokhu ngenxa yokuthi umsingathi akazi ukuthi iyiphi i-offset yomamukeli file ukulanda kuphazamisekile.
Noma yiziphi izinhlobo zokudlulisa zingahoxiswa ngokuthola idatha ngokuthumela noma yiluphi uphawu lwephutha le-DTP (isb, ASCII '#').
Lapho udlulisela idatha emilayezweni ye-[RE], inani lika-block_size lizonquma umkhawulo kasayizi wokulayishwa kwedatha kuwo wonke umlayezo we-[RE] (futhi ukhawulelwe ngosayizi webhafa ye-firmware yangaphakathi). Njengokuvamile, wonke umlayezo we-[RE] uzoqalwa nge-ID yomyalo (uma ikhona).
Lapho udlulisela idatha emilayezweni [>>], inani lenketho yemizamo lizonquma inkambu ye-id yemilayezo [>>] ngendlela elandelayo:
id = -1 - imizamo
futhi inani elithi “block_size” lizonquma umkhawulo kasayizi wokulayishwa kwedatha kuwo wonke umlayezo [>>] (futhi ukhawulwe ngosayizi webhafa yangaphakathi ye-firmware).
Ibhayithi elandelayo ngemva kwe-id (ibhayithi yokuqala yenkambu yedatha) kumlayezo othi [>>] izobe isiba uhlamvu olulandelanayo oluqala ngophawu lwe-ASCII 0 futhi lunyuswe i-modulo 64 kuwo wonke umlayezo, okuholela ekulandelaneni kwezimpawu ze-ASCII ukusuka ku-0 kuye ku-o, kuhlanganisa:
i-seq = iluphu engu-0 {seq_char = '0' + (seq++ % 64)}
Uhlamvu olulandelanayo luvumela ukuphela kokwamukela ukuthi kutholwe ukulahleka [>>] kwemilayezo ngokulandelana.
Bese kuzolandela umthamo wedatha wento ofika ku-block_size bytes, bese kuba nesamba sesheke, ngokuya ngefomethi yomlayezo [>>].
Okukhiphayo okuyimpumelelo kumodi egoqiwe kuyohlale kuphothulwa ngomlayezo [>>] ongenakho ukulayishwa kwedatha, ukuze kuvunyelwe ukuphela kokwamukela ukuze kunqunywe ngendlela enokwethenjelwa ukuphela kokudlulisa.

ExampLes

Example: Qala ukubuyisa okuqukethwe kwe file NAME usebenzisa i-DTP. Okunye kwe:

Example:

thola,/log/NAME thola,NAME
Qala ukubuyisa okuqukethwe kwe- file I-NAME iqala ku-byte inombolo 3870034 (ibala amabhayithi ukusuka kuziro). Lindela ukuthi kudlule isikhathi eside phakathi komyalo nempendulo:

%%thola,NAME,3870034 RE002%%

GREIS

www.javad.com

RECEIVER INPUT ULIMI Imiyalo get
Example: Qala ukubuyisa okuqukethwe kwe file ugodo_lwamifile kusukela ku-byte 3000 usebenzisa isikhathi sokuvala imizuzwana engu-50 kanye nosayizi webhulokhi wamabhayithi angu-8192:
thola,logi_lamifile:{50,8192},3000
Example: Qala ukubuyisa okuqukethwe kwe file NAME uhlunga ama-epoch ukuze umphumela ubuyiswe file kungaba idatha engu-0.1Hz:
thola,NAME:{,,10}
Example: Qala ukubuyisa okuqukethwe kwe file NAME usebenzisa imodi yokusakaza (inketho yemizamo isethwe ukuze ithi 1):
thola,NAME:{,,,,1}
Example: Thumela okuqukethwe kwe- file NAME isongwe emilayezweni [>>] ene-id 61 (okuwuphawu lwe-ASCII '='), kusetshenziswa amabhayithi edatha afinyelela kwangu-128 emlayezweni ngamunye:
thola,NAME:{,128,,,-62}
Example: Thumela okuqukethwe kwe- file I-NAME isongelwe emilayezweni engu-[RE] kusetshenziswa idatha efinyelela ku-190 bytes ngomlayezo ngamunye, kwandulelwe yi-%MY_ID%:
%MY_ID%thola,NAME:{,190,,,-257}

GREIS

www.javad.com

2.3.11 beka

RECEIVER INPUT ULIMI Imiyalo ifakiwe

Igama
qala file ukulayisha usebenzisa i-DTP1.

Amazwibela
Ifomethi: beka, into[,offset] Izinketho: {timeout, block_size}

Izingxabano
isihlonzi sento ye- file ukubhala idatha kuyo. Uma into ingaqali ngokuthi “/”, khona-ke “/log/” isiqalo sishutheka ngokuzenzakalelayo ngaphambi kwento ngaphambi kokwenza umyalo.
offset offset ngamabhayithi kusukela ekuqaleni kwe file lapho ezoqala khona ukubhala. Uma ikhishiwe, kuthathwa u-0.

Izinketho

Ithebula 2-6. beka izinketho isifinyezo

Igama

Uhlobo

Amanani

Okuzenzakalelayo

isikhathi siphelile

inombolo [0…86400], imizuzwana 10

inombolo ye-block_size [1…163841]

512

1. 2048 yabamukeli abangasekeli i-TCP noma i-USB.

ukuphela kwesikhathi sokuvala se-DTP. block_size usayizi webhulokhi yedatha ye-DTP.

Incazelo
Lo myalo uqala ukulayishwa kwedatha kusuka kukhompuyutha yokusingatha ku-a file kumamukeli usebenzisa i-Data Transfer Protocol (DTP). Ayikho impendulo ekhiqizwayo ngaphandle uma kunephutha, noma impendulo iphoqelelwe yisihlonzi sesitatimende.
Ngemuva kokuthi umyalo we-put uphumelele, isamukeli se-DTP siqalwa kumamukeli bese silinda isidlulisi se-DTP ukuthi sisetshenziswe kumsingathi. Ngakho-ke, ukuze empeleni ulayishe noma iyiphi idatha, umuntu udinga ukuqaliswa kwe-DTP transmitter kumsingathi.

1. Bheka “Iphrothokholi Yokudluliswa Kwedatha” ekhasini 580.

GREIS

www.javad.com

RECEIVER INPUT ULIMI Imiyalo ifakiwe

I-agumenti yokuzikhethela ye-offset ivumela umsingathi ukuthi asebenzise ukusekela ukuze kuqaliswe kabusha ukudluliswa kwedatha okuphazamisekile. Inani le-offset elingelona uziro livumela umsingathi ukuthi acele idatha efakiwe kuze kube sekupheleni kwekhona file ngosayizi ofanayo.
Uma i-offset ingu-0 kanye ne- file into ayikho, umamukeli uzozama ukudala nokuvula ukuze kubhalwe entsha file negama elichazwe ngento. Kulokhu umyalo uzohluleka uma sekuvele kukhona a file ngegama elinikeziwe.
Uma i-offset inkulu kuno-0, futhi kukhona u-a file into, kanye file usayizi ulingana nenani le-offset, khona-ke umyalo wokubeka uzovula ifayela le- file into yokwengezwa. Kulokhu umyalo uzohluleka uma ungekho okhona file ngegama elinikeziwe noma uma ubukhulu bekhona file ayifani nalezo ezishiwo nge-offset.

ExampLes

Example: Qala ukulayisha idatha kokusha file “NAME” usebenzisa i-DTP. Okunye kwe:

Example:

beka,/log/NAME beka,NAME
Qala ukulayisha idatha futhi uyifake kwekhona file “NAME”. Sebenzisa ukuphela kwesikhathi kwe-DTP okuzenzakalelayo kanye nosayizi webhulokhi we-DTP ongu-4096 byte. Thola usayizi we file ngaphambi kokuqala ukulayisha (qaphela ukuthi i- file usayizi uyadingeka kumsingathi noma kunjalo ukuze eqe leli nani lamabhayithi kusuka kudatha yawo yomthombo file):

Example:

phrinta,/log/NAME&size RE008 3870034 put,/log/NAME:{,4096},3870034
Qala ukulayisha idatha kokusha file “ugodo_lwamifile” usebenzisa isikhathi sokuvala imizuzwana engu-50 kanye nosayizi webhulokhi wamabhayithi angu-8192:

beka,ugodo_lwamifile:{50,8192}

GREIS

www.javad.com

2.3.12 fld

ULIMI OLUFAKAYO LOKUTHOLA Imiyalo fld

Igama
fld firmware iyalayisha.

Amazwibela
Ifomethi: fld,id,object Options: {timeout, block_size}

Izingxabano
Iyunithi yezinhlamvu ye-id equkethe umamukeli we-elekthronikhi i-ID1. Uma i-ID eshiwo ingahambisani ne-ID yangempela ye-elekthronikhi yomamukeli, umyalo uzohluleka futhi ukhiqize umlayezo wephutha.
isihlonzi sento somthombo we-firmware ezolayishwa. Noma igama lomamukeli file, noma igama lembobo yokufaka. Uma kuyigama lembobo yokufaka, igama elithi/cur/term noma igama langempela lembobo yamanje kufanele linikezwe, uma kungenjalo kuzobikwa iphutha.

Izinketho

Ithebula 2-7. Fld ongakhetha isifinyezo

Igama

Uhlobo

Amanani

isikhathi siphelile

inombolo ephelele [0…86400], imizuzwana

block_size integer [1…163841] 1. 2048 yabamukeli abangasekeli i-TCP noma i-USB.

Okuzenzakalelayo
10 512

ukuphela kwesikhathi sokuvala se-DTP. block_size usayizi webhulokhi yedatha ye-DTP.

Incazelo
Lo myalo ulayisha i-firmware entweni ethile iye kumamukeli bese usetha kabusha umamukeli. Ayikho impendulo ekhiqizwayo ngaphandle uma kunephutha, noma impendulo iphoqelelwe yisihlonzi sesitatimende.

1. I-ID ingatholwa kusetshenziswa umyalo wokuphrinta,/par/rcv/id.

GREIS

www.javad.com

ULIMI OLUFAKAYO LOKUTHOLA Imiyalo fld

Isexwayiso:

Uma kwenzeka ukwehluleka kwamandla noma ukuphazamiseka okubulalayo kokudluliswa kwe-firmware ngembobo ngesikhathi sokulayisha, umamukeli angase aye esimweni sokusebenza kancane lapho i-firmware kuphela elayisha ngezimbobo ze-RS-232 kusetshenziswa indlela "yokuthwebula amandla" kungenzeka.
Uma into ikhomba ekhona file1, umamukeli uzoqala ahlole ukuthi ngabe i- file iqukethe i-firmware evumelekile yomamukeli (kuthatha imizuzwana embalwa ukuqeda). Uma isheke liphumelela, umamukeli uzolayisha i-firmware abese enza ukuzisetha kabusha. Qaphela ukuthi impendulo yomyalelo (uma ikhona) izothunyelwa ngemuva kokuthi isheke senziwe kodwa ngaphambi kokuthi kuqale ukulayisha i-firmware. Izinketho zesikhathi sokuvala kanye nosayizi we-block_size azinakwa kulesi simo.
Uma into ichaza ukusakaza okokufaka, umyalo uzothumela impendulo (uma ikhona) bese uqala isamukeli se-DTP esizolinda isidlulisi se-DTP ukuthi siqaliswe kumsingathi. Ngakho-ke, ukuze ulayishe i-firmware, umuntu udinga ukuqaliswa kwe-DTP transmitter kumsingathi. Ukusetha kabusha ngokwakho (ukuqalisa kabusha) kuzokwenziwa umamukeli ngemva kokuthi ukulayisha kuqedwe ngempumelelo noma kuphazamisekile.

ExampLes
Example: Layisha i-firmware kusuka ku- file “firmware.ldp” kumamukeli nge-elekthronikhi ID 123456789AB. Lindela ukuthi kudlule imizuzwana embalwa phakathi kokuthumela umyalo nokwamukela impendulo, kuyilapho umamukeli ehlola file ngokufaneleka kwe-firmware:
%%fld,123456789AB,/log/firmware.ldp RE002%%
Example: Qala ukulayisha i-firmware kusuka embobeni ye-USB usebenzisa usayizi webhulokhi 16384 bytes kanye nokuvala isikhathi imizuzwana engu-20. Thola i-ID ye-elekthronikhi ngaphambi kokukhipha umyalo:
print,rcv/id RE00C 8PZFM10IL8G fld,8PZFM10IL8G,/dev/usb/a:{20,16384}

GREIS

1. Kulindeleke ukuthi i file equkethe i-firmware ilayishwa kumamukeli kusenesikhathi, isb, kusetshenziswa i- put command.

www.javad.com

ULIMI OLUFAKAYO LOKUTHOLA Imiyalo fld

GREIS

www.javad.com

Isahluko 3
YAMUKELA IMILAYEZO

Lesi sahluko sichaza ifomethi evamile yemilayezo evamile ye-GREIS kanye namafomethi athile ayo yonke imilayezo echazwe ngaphambilini. Ngaphandle kwemilayezo evamile ye-GREIS, umamukeli usekela imilayezo embalwa yamafomethi ahlukene, njenge-NMEA noma i-BINEX. Izakhiwo zaleyo miyalezo “yangaphandle” zichazwe ekugcineni kwalesi sahluko.
3.1 Izivumelwano
3.1.1 Ukucaciswa kwefomethi
Ukuze sichaze ifomethi ethile njengokulandelana kwamabhayithi1 ngendlela ehlangene, sichaza amafomethi ezinhlobo ezimbalwa zenkambu eyinhloko bese sisebenzisa inothi eduze naleyo esetshenziswa olimini lokuhlela C ukuze sakhe izincazelo zamafomethi ayinkimbinkimbi kakhulu:
yakha IGAMA {LENGTH} {TYPE FIELD[COUNT]; // INCAZELO … UHLOBO INSIMU[COUNT]; // INCAZELO
};
kuphi:
NAME igama elinikezwe le fomethi. Ingasetshenziswa kwezinye izincazelo zefomethi njengokuthi TYPE yenkambu.
LENGTH ubude ngamabhayithi okulandelana kwawo wonke. Ngefomethi yobude obumisiwe, iyinombolo, yomlayezo wobude obuguquguqukayo, ingase ibe isisho se-arithmetic kuye ngamanye amapharamitha aguquguqukayo noma iyunithi yezinhlamvu var nje.
TYPE FIELD[COUNT] isichazi senkambu. Ichaza ukulandelana kwezinto ezingu-COUNT ze-TYPE efanayo enikezwe igama elithi FIELD. I-TYPE ingaba enye yezinhlobo zenkambu eziyinhloko ezichazwe ngezansi, noma i-NAME yenye ifomethi. Uma i-[COUNT] ingekho, inkambu iqukethe into eyodwa ncamashi. Uma i-COUNT ingekho (okungukuthi, kukhona kuphela abakaki abayisikwele abangenalutho, []), kusho ukuthi inkambu iqukethe inombolo engashiwongo yezakhi.

GREIS

1. Kumongo walesi sahluko, elithi “byte” lisho into engu-8-bit. Ibhithi elincane elibalulekile linoziro wenkomba.

www.javad.com

Izivumelwano Zokumukela IMILAYEZO
Imininingwane Yefomethi

INCAZELO incazelo yenkambu kanye namayunithi ayo okulinganisa nobubanzi obuvunyelwe bamanani, lapho kufanele khona. Amayunithi wokulinganisa azungezwe abakaki abayisikwele.
Izinhlobo zezinkambu eziyinhloko ezilandelayo zichaziwe:

Ithebula 3-1. Izinhlobo Zensimu Eyisisekelo

Thayipha Igama

Incazelo

Ubude ngamabhayithi

Uhlamvu lwe-ASCII

inamba ephelele esayiniwe

inombolo engasayiniwe

I-IEEE-754 iphoyinti elintantayo elinembayo elilodwa

I-IEEE-754 iphoyinti elintantayo elinembayo eliphindwe kabili

ukulandelana okunqanyuliwe okuyiziro kokuhlukahluka kwezinhlamvu ze-ASCII

Ukuze sichaze ngokuphelele ifomethi ethile, kufanele futhi sicacise ukuhleleka kwamabhayithi ezinkambuni eziyinhloko ezingahlanganisi ezinamabhayithi amaningi (i2, i4, u2, u4, f4, f8). Ngemilayezo ye-GREIS lolu hlelo luchazwa ngumlayezo we-[MF], bheka “[MF] Ifomethi yemilayezo” ekhasini 74 ukuze uthole imininingwane.
Ngokusebenzisa izincazelo ezingenhla kungenzeka (ngokuphindaphindiwe) unwebe noma yikuphi ukucaciswa kwefomethi ukuze kube nokulandelana okuhambisanayo kwamabhayithi. Okwesiboneloample, ifomethi
yakha Example {9} {u1 n1; f4 n2; i2 n3[2];
};
inweba ibe ukulandelana okulandelayo kwamabhayithi ngokuthatha i-byte ebaluleke kakhulu kuqala (LSB) oda:
n1[0](0), n2[0](0),n2[0](1),n2[0](2),n2[0](3), n3[0](0),n3[0](1),n3[1](0),n3[1](1)

GREIS

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GREIS

WAMUKELA IMILAYEZO Ukusakaza Okujwayelekile Komlayezo
Amanani Akhethekile
kanye nokulandelanisa okulandelayo kwamabhayithi okuthatha i-byte ebaluleke kakhulu yokuqala (MSB) oda:
n1[0](0), n2[0](3)n2[0](2)n2[0](1)n2[0](0) n3[0](1)n3[0](0)n3[1](1)n3[1](0)
lapho u-x[i](j) eqoka u-j-th byte (ibhayithi #0 njengento ebaluleke kakhulu) ye-elementi ye-i-th yenkambu x.

3.1.2 Amanani Akhethekile

Emilayezweni kanambambili, ezinye zezinkambu zazo zenombolo kanye nezindawo ezintantayo zingaqukatha amanani akhethekile, asetshenziswa esikhundleni sedatha yangempela uma ingekho idatha yenkambu etholakalayo. Izinkambu kanambambili okudingeka kuzo ukuhlola amanani akhethekile ngesikhathi sokukhishwa kwedatha zimakwe ngophawu lwesibabazo, “!” kukholamu yokuqala yencazelo yenkambu.
Ithebula elilandelayo lichaza amanani akhethekile ezinhlobo ezahlukahlukene zezinkambu zedatha:

Ithebula 3-2. Amanani Akhethekile Ezinkambu

Uhlobo Lwensimu
i1 u1 i2 u2 i4 u4 f4 f8

Inani Elikhethekile
127 255 32767 65535 2147483647 4294967295 i-NaN ethulile i-NaN

HEX Ukumelwa
7F FF 7FFF FFFF 7FFF_FFFF FFFF_FFFF 7FC0_0000 7FF8_0000_0000_0000

3.2 Ukusakazwa Kwemilayezo Okujwayelekile

Ukusakaza okujwayelekile komlayezo we-GREIS kuwukulandelana okungenani kwezinhlobo ezimbili zemilayezo, imilayezo evamile ye-GREIS, nemilayezo yombhalo engajwayelekile.
Imiyalezo ebaluleke kakhulu nesetshenziswa kabanzi isethi enothile yemiyalezo ejwayelekile ye-GREIS. Ifomethi yabo evamile iklanywe ngokucophelela ukuvumela kokubili imiyalezo kanambambili neyombhalo-

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AMAMUKELA IMILAYEZO Ifomethi evamile yemilayezo
Imilayezo Ejwayelekile
izihlakaniphi, nokwenza kube nokwenzeka ukuthi izinhlelo zokusebenza zeqe ngempumelelo imilayezo uhlelo lokusebenza olungayazi noma elingenantshisekelo kuyo.
Ukusekelwa kwemiyalezo yombhalo engajwayelekile, okufanele isabambelele kufomethi echazwe kuyo kuleli bhukwana, kwenza kube nokwenzeka ukuhlanganisa imilayezo evamile ye-GREIS nemilayezo yamanye amafomethi ekusakazweni kwedatha ye-GREIS evamile. Isibample yefomethi enjalo yimilayezo ye-NMEA.
Imilayezo yombhalo engajwayelekile yecala elikhethekile, imilayezo equkethe i-ASCII kuphela kanye/noma izinhlamvu, zifakwe injini yokufometha komlayezo kumamukeli phakathi kwemilayezo evamile ye-GREIS ukuze wenze umlayezo owumphumela usakazwe ufundeke kakhulu abantu uma uthunyelwa kutheminali noma umbhalo ojwayelekile. viewer noma uhlelo lokusebenza lomhleli.
Ngaphandle kwemilayezo evamile ye-GREIS nemilayezo yombhalo engajwayelekile, abamukeli be-JAVAD GNSS ngokuvamile basekela inqwaba yamafomethi (isb, RTCM, BINEX, CMR). Nokho, lawo mafomethi awahambisani nefomethi yokusakaza komlayezo ojwayelekile we-GREIS. Uma ukusakaza kuqukethe imilayezo yalawo mafomethi, ngeke kusabizwa ngokuthi ukusakaza komlayezo okuvamile kwe-GREIS, futhi ngeke kuncozululwe ngemithetho efanayo njengokusakaza okujwayelekile.1

3.3 Ifomethi Ejwayelekile Yemilayezo

3.3.1 Imilayezo Ejwayelekile

Ifomethi yawo wonke umlayezo ojwayelekile imi kanje:

hlela i-StdMessage {var} {

i-id engu-a1[2];

// Isihlonzi

ubude obu-a1[3];

// Ubude bomzimba we-Hexadecimal, [000...FFF]

u1 umzimba[ubude]; // Umzimba

};

Umlayezo ngamunye ojwayelekile uqala ngesihlonzi somlayezo esiyingqayizivele esihlanganisa izinhlamvu ezimbili ze-ASCII. Noma yiziphi izinhlamvu kusukela kusethi engaphansi “0” kuye ku-“~” (okungukuthi, amakhodi edesimali ASCII ebangeni elithi [48…126]) avunyelwe kusihlonzi.

GREIS

1. Eqinisweni, ifomethi yemilayezo evamile ye-GREIS ivumelana nezimo kangangokuthi ingahlanganisa noma yikuphi ukusakazwa kwedatha ekusakazeni kwedatha okujwayelekile kwe-GREIS, kodwa-ke ukusakaza kwasekuqaleni okungahambelani kufanele kusongwe ngokulandelana kwemilayezo ye-GREIS ekhethekile. Umlayezo ochazwe ngaphambilini onenkomba ">>” usebenzisa le njongo.

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AMAMUKELA IMILAYEZO Ifomethi evamile yemilayezo
Imilayezo Yombhalo Engajwayelekile
Isihlonzi somlayezo silandelwa ubude benkambu yomzimba womlayezo. Le nkambu, ehlanganisa izinombolo ze-hexadecimal ezinosonhlamvukazi ezintathu, icacisa ubude bomzimba womlayezo ngamabhayithi. Ngakho ubude bomzimba womlayezo omkhulu bungamabhayithi angu-4095 (0xFFF).
Umzimba womlayezo ulandela ngokushesha ngemva kwenkambu yobude futhi uqukethe inani eliqondile lamabhayithi ashiwo inkambu yobude. Ayikho imikhawulo kokuqukethwe kwendikimba yomlayezo eshiwo yifomethi evamile. Ifomethi yendikimba yomlayezo kumlayezo ichazwa ngokungagunci yisihlonzi somlayezo. Amafomethi emizimba yemiyalezo yayo yonke imilayezo echazwe ngaphambilini

3.3.2 Imiyalezo Ebhaliwe Engajwayelekile

Ifomethi yemiyalezo yombhalo engajwayelekile imi kanje:

hlela i-NonStdTextMessage {var} {

i-id engu-a1;

// Isihlonzi, [!…/]

umzimba ongu-a1[];

// Umzimba wobude obungalingani, [0…)

awu 1;

// Ukuphela komlayezo ( noma )

};

Isihlonzi somlayezo yinoma yiluphi uhlamvu kububanzi [!… /] (amakhodi edesimali ASCII ebangeni [33…47]). Isihlonzi somlayezo siyazikhethela. Uma ingekho, indikimba yomlayezo kufanele ibe nobude uziro (okungukuthi, kufanele ingabi khona futhi).

Umzimba womlayezo uwuchungechunge lwezinhlamvu ze-ASCII ngaphandle (ikhodi yedesimali 13) kanye (ikhodi yedesimali 10) izinhlamvu. Akukho mkhawulo kubude bomzimba obekwe yifomethi.

Isiphetho somaka womlayezo noma noma uhlamvu.

Qaphela ukuthi ifomethi ivumela imilayezo engajwayelekile ehlanganisa kuphela izinhlamvu ze-CR noma ze-LF. Lesi sici sivumela ukwenza ukusakazwa komlayezo ojwayelekile we-GREIS kubukeke kufundeka njengomuntu uma ukhipha idatha kutheminali yenjongo evamile noma viewngombhalo ojwayelekile viewer noma umhleli.

Esinye sezihlonzi zomlayezo wombhalo ezingajwayelekile, uhlamvu oluthi “$”, seluvele lugciniwe njengesihlonzi semilayezo ejwayelekile ye-NMEA. Ayikho eminye imilayezo yombhalo engajwayelekile okufanele isebenzise i-“$” njengesihlonzi.

3.3.3 Ukusakazwa komlayezo wokuhlaziya
Kulesi sigaba, uzothola amasu namathiphu okuthi ungayibhala kanjani ikhodi ehloselwe ukucozulula ukusakazwa komlayezo womamukeli we-GREIS. Nakuba singeke sixoxe kabanzi ngalesi sihloko kule manuwali yereferensi, singathanda ukugcizelela lapha ukuthi umlayezo ojwayelekile

GREIS

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AMAMUKELA IMILAYEZO Ifomethi evamile yemilayezo
Ukusakaza Umlayezo Wokusakaza
Ifomethi izokuvumela ukuthi ucubungule/uhlaziye ngempumelelo cishe noma yikuphi ukusakazwa komlayezo we-GREIS ongase uhlangane nakho lapho usebenza.

Qaphela:

Ukuvumelanisa
Lapho udlulisa ukusakaza komlayezo, udinga kuqala ukuthola umngcele womlayezo oseduze. Yilokhu okuvame ukubizwa ngokuthi "ukuvumelanisa". Ukuvumelanisa umlayezo kwenziwa uma ukuncozululwa kuqalisiwe noma uma ukuvumelanisa kulahleka ngenxa yephutha ekusakazweni kwedatha. Eqinisweni, ukwenza i-algorithm ibe lula, ungase ucabange ukuthi usuvele uvumelanisiwe uma uqala ukuncozulula ukusakazwa kwedatha. Uma kwenzeka ukuthi akunjalo ngempela, iphutha lokuhlaziya kufanele lenzeke. Bese weqa uhlamvu olulodwa ekusakazweni kokufaka bese wenze sengathi uvumelanisiwe futhi. Indlela enjalo iwuqeda ngempumelelo umsebenzi wokuvumelanisa njengengxenye ehlukile ye-algorithm yokuhlukanisa.
Ngenxa yokuthi izinga lamaphutha ekusakazweni kwedatha okusebenzisekayo kufanele libe phansi, ukuvumelanisa akufanele kube umsebenzi ovamile. Ukwengeza, ukusakazwa kwedatha ye-GREIS ngokuvamile kuhlanganisa imilayezo emifushane, ngakho-ke ibanga lokuya emngceleni wemilayezo oseduze ngokuvamile lincane. Ngokucabangela lokhu kucatshangelwa, asikho isidingo sokuthi i-algorithm yokuvumelanisa isheshe kakhulu.

Qaphela:

Yeqela Emlayezweni Olandelayo
Ukuba nobude ngefomethi evamile yemilayezo evamile ye-GREIS kukuvumela ukuthi uzibe kalula imilayezo ngaphandle kokwazi ifomethi yemizimba yayo. Sincoma kakhulu ukuthi kubhalwe abahlaluli ukuze beqe imilayezo engaziwa.
Ukuze usuke kumlayezo wamanje uye komunye olandelayo, thatha izinyathelo ezilandelayo:
1. Cabanga ukuthi umlayezo wamanje uqala endaweni “N”. Thola ubude bomlayezo wamanje (qopha izinhlamvu ## N+2, N+3, N+4). Cabanga ukuthi ubude bomlayezo bulingana no-L. Yeqa izinhlamvu zokuqala ezingu-L+5 kusukela endaweni ethi "N".
2. Yeqa konke futhi izinhlamvu (uma zikhona).
Uma sikhuluma ngokuqinile, asincomi ukuthi usebenzise kukhodi yakho yokuhlaziya noma yiluphi ulwazi lwangaphambili mayelana nosayizi nokuqukethwe kwemizimba yemiyalezo. Uma uhlonipha lesi sincomo, ngeke ube nenkinga ngohlelo lokudlulisa uma eminye imilayezo ishintshwa.
Imithetho kanye namacebo ekuhlukaniseni imizimba yemiyalezo yemilayezo evamile echazwe ngaphambilini ye-GREIS kuxoxwa ngayo kamuva kokuthi “Izindikimba Zomlayezo Wokuhlukanisa” ekhasini 67.

GREIS

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WAMUKELA IMILAYEZO Imilayezo Ejwayelekile Echazwe Phambili
Izinhlayiya Zomlayezo Wokuhlahlela
3.4 Imilayezo Echazwe ngaphambilini Ejwayelekile
Kulesi sigaba sizojwayeza umfundi ngesethi echazwe ngaphambilini yemilayezo ye-GREIS evamile. Uma sikhuluma ngomlayezo onenkomba XX, sisebenzisa inothi [XX]. Nakuba imilayezo eminingi ibizwa ngesihlonzi semilayezo yayo ku-GREIS, eminye yayo, ikakhulukazi leyo enezihlonzi ezingezona izinombolo nezinombolo, inamagama ahlukile. Emilayezweni enjalo kusetshenziswa inothi [XX](NN), lapho XX iyinkomba yomlayezo, futhi NN iyigama lomlayezo okufanele lisetshenziswe emiyalweni ye-GREIS. Okwesiboneloampumlayezo [~~](RT) unombhalo othi “~~” futhi ubizwa ngokuthi /msg/jps/RT kumiyalo ye-GREIS.
Lesi sigaba sichaza amafomethi emizimba yawo yonke imilayezo ejwayelekile echazwe ngaphambilini. Khumbula ukuthi ekusakazweni kwedatha wonke umlayezo unesihloko esijwayelekile esichazwa yifomethi evamile futhi.
3.4.1 Izinhlaka Zomlayezo Wokudluliswa
Kuvunyelwe Izandiso Zefomethi
Amafomethi wemilayezo kanambambili anosayizi womlayezo ongashintshi avumela ukwengeza izinkambu zedatha ezengeziwe esikhathini esizayo. Izinkambu ezintsha zivunyelwe ukufakwa kuphela ekugcineni kwendikimba yomlayezo ngaphambi kwenkambu yokuhlola (uma ikhona). Ukuguqulwa okunjalo emizimbeni yemilayezo kubhekwa njengezandiso zefomethi, hhayi izinguquko ezingahambelani.
Nakuba imilayezo yombhalo ye-GREIS evamile ingeyona imilayezo enosayizi womlayezo ongashintshi, izinkambu ezintsha zisengavela kule milayezo esikhathini esizayo. Izinkambu ezintsha zingafakwa ekugcineni komlayezo wombhalo okhona ngaphambi nje kwenkambu ye-checksum, noma ngokushesha ngaphambi kwanoma iyiphi ibrace engakwesokudla (}). Okwesiboneloample, umlayezo okwamanje ofundeka kanje:
…1,{21,22},3,@CS
inganwetshwa kamuva ku
…1,{2.1,2.2,2.3},3,4,@CS
lapho izinkambu ezimbili ezengeziwe, “2.3” kanye “4”, zengezwe.
Sebenzisa ama-algorithms akho okuhlaziya ngokucabangela imithetho elandelayo ukuze uwenze asebenze ngisho ngezandiso zefomethi ezizayo:
1. Ungacabangi ukuthi usayizi wendikimba yomlayezo womlayezo owamukelwe kufanele ufane nse nosayizi othile ochazwe kule dokhumenti. Kuphela uma umlayezo umfushane kakhulu okusho ukuthi awukwazi ukusebenzisa okuqukethwe kwawo. Uma umlayezo umude kunokulindelekile, vele uzibe idatha eyeqile.
2. Khuluma nenkambu yesheke ngokuhlobene nesiphetho somzimba womlayezo.

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WAMUKELA IMILAYEZO Imilayezo Ejwayelekile Echazwe Phambili
Amanothi Avamile
3. Khuluma nezinye izinkambu zedatha ngokuhlobene nasekuqaleni kwendikimba yomlayezo. 4. Cabangela lo mthetho ongenhla wokwelula imiyalezo uma
ukubhala idatha extractors for imiyalezo.
Amasheke
Ngemva kokuthi umlayezo ukhishiwe ekusakazweni kwedatha kusetshenziswa amasu achazwe “Ekudluliseni Umlayezo Wokusakaza” ekhasini 65, futhi isihlonzi somlayezo sibonakala singesinye salezo ezithandwa uhlelo lokusebenza, indikimba yomlayezo kufanele ihlukaniswe ukuze kukhishwe idatha. Ngaphambi kokukhipha okuqukethwe, i-checksum yomlayezo kufanele ibalwe futhi iqhathaniswe ne-checksum equkethwe emlayezo.
Iningi lemilayezo echazwe ngaphambilini iqukethe i-checksum. I-Checksum ibalwa kusetshenziswa kokubili unhlokweni womlayezo (okungukuthi, “isihlonzi somlayezo” kanye “nobude bomzimba womlayezo”) kanye nomzimba ngokwawo. Bheka okuthi “Computing Checksums” ekhasini 579 ukuze uthole ulwazi olwengeziwe ngokubala kwe-checksum.
I-checksum ihlale ibekwe ekugcineni komzimba womlayezo. Uma isakhiwo somlayezo silungiswa ngokwengeza inkambu yedatha entsha, izinkambu zedatha ezintsha zizongezwa ngaphambi kwenkambu ye-checksum. Lokhu kuchaza ukuthi kungani kunconyiwe ukubhekana nenkambu ye-checksum ngokuhlobene nesiphetho somzimba womlayezo.
3.4.2 Amanothi Ajwayelekile
Izilinganiso Zesikhathi
Kunezilinganiso zezikhathi ezinhlanu umamukeli wakho angase azibambe:
Isikhathi somamukeli Tg GPS isikhathi sohlelo Tu UTC(USNO). Isikhathi Esididiyelwe I-Universal Coordinated sisekelwa I-US Naval Obser-
i-vatory. Isikhathi sesistimu ye-GLONASS. I-Ts UTC(SU). I-Universal Coordinated Time esekelwa Isikhathi Sikahulumeni kanye
Isevisi ye-quency, eRussia.
“Isikhathi somamukeli” ukuphela kwegridi yesikhathi ehlala itholakala kumamukeli wakho (okungukuthi, amanye amagridi esikhathi asohlwini olungenhla angase atholakale noma angatholakali okwamanje).
Eqinisweni, isamukeli se-JAVAD GNSS sihlala sivumelanisa isikhathi saso somamukeli nesinye sezikali zesikhathi ezine zomhlaba: isikhathi se-GPS, i-UTC(USNO), isikhathi se-GLONASS, noma i-UTC(SU). I

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WAMUKELA IMILAYEZO Imilayezo Ejwayelekile Echazwe Phambili
Amanothi Avamile
Igridi yesikhathi ekhethiwe ngaleyo ndlela ibizwa ngokuthi “isikhathi sokubhekisela komamukeli” (Trr) ngemva kwalokhu kulesi sigaba1.
Amasistimu esikhathi ahlukene angase abe nezimpawu zesikhathi (amafomethi) ahlukene ahlotshaniswa nazo (isb, isikhathi se-GPS, sisebenzisa amagama anjengokuthi “inombolo yeviki”, “isikhathi seviki”, njll.). Qaphela, nokho, ukuthi ukumelwa "kwesikhathi somamukeli" ngeke kuncike esikhathini esiyisithenjwa somamukeli esikhethiwe futhi sihlale simelelwa njengedethi yomamukeli nesikhathi sosuku.
Iningi lemilayezo echazwe ngaphambilini ayinalo ulwazi lwesikhathi esiyisethenjwa ngaphakathi. Kwethu view, kungaba ngokweqile ukusebenzisa kanyekanye tag ngayo yonke imilayezo eminingi umamukeli ayikhiqizayo esikhathini samanje. Uma ukhipha ulwazi lomamukeli olutholakalayo lwenkathi yamanje, ngokuvamile uthola imilayezo eyahlukene. Esikhundleni sokunikeza ngamunye wabo isikhathi esisodwa tag Idatha, sisebenzisa umlayezo okhethekile ophethe ulwazi lwesikhathi somamukeli olujwayelekile kule miyalezo. Lo mlayezo ubizwa ngokuthi “Isikhathi Somamukeli” futhi unesihlonzi [~~].
Kukhona, nokho, indlela yokusebenza, ebizwa ngokuthi imodi yokubambezeleka kwe-RTK, lapho umamukeli wenkathi ethile angase akhiqize isisombululo esibhekiselwe kwenye inkathi edlule. Ukuze unikeze isikhathi tag ngesixazululo esinjalo, Isikhathi Esikhethekile Sokuxazulula-Tag [ST] umlayezo usetshenzisiwe. Eqinisweni lo mlayezo unikeza isikhathi esifanele tag ukuthola isixazululo kuzo zonke izindlela zokusebenza, nakuba ezindleleni eziningi inesikhathi esifanayo ncamashi nesika [~~].
Kukhona eminye imilayezo enesikhathi tag inkambu yedatha. Leyo imilayezo equkethe ulwazi oluvela ngokuzimele kugridi yenkathi yomamukeli. IsibampUmlayezo onjalo uthi “Umcimbi” [==].
Ama-Delimiters
Eqinisweni, umlayezo othi "Isikhathi Somamukeli" kufanele wandulele yonke eminye imilayezo ekhiqizwa esikhathini samanje ngaleyo ndlela uhlukanise imilayezo ehambisana nezinkathi ezahlukene. Kusukela endaweni esemthethweni ye view, kukumsebenzisi ukuthi achaze ukuhleleka kwemilayezo ekusakazweni kokuphumayo. Kodwa-ke, kufanele kuqashelwe ukuze kuqinisekiswe ukuthi indlela imilayezo ebhalwa ngayo emfudlaneni ophumayo ayiphuli “ukuvumelanisa kwenkathi”, okubaluleke kakhulu ekucubunguleni idatha engeniwe ngamaphakheji esofthiwe e-JAVAD GNSS. Ukuze uthole imininingwane eyengeziwe ngesethi emisiwe yemiyalezo bheka “Amasethi Omlayezo” ekhasini 562.
Kuzinhlelo zokusebenza zesikhathi sangempela kubalulekile ukucacisa ukuphela kwenkathi ngokushesha okukhulu. Kuzinhlelo zokusebenza ezinjalo ukuhlukanisa ama-epoch ngokumaka "ukuqala kwenkathi" akulungile. Siphakamisa ukuthi usebenzise umlayezo othi “Isikhathi Se-Epoch” [::](ET) njengomaka “wokuphela kwenkathi”. Lo mlayezo uqukethe isikhathi esifanayo senkambu yosuku etholakala kumlayezo othi “Isikhathi Somamukeli” ovumela ukuhlolwa kobuqotho okungcono. Umqondo uwukuqhathanisa isikhathi tag

1. Ku-firmware yamanje eyamukelayo isikhathi sokubhekisela kumamukeli kungaba yi-GPS noma isikhathi sesistimu ye-GLONASS, bheka ku-/par/raw/isikhathi/ref ekhasini 220.

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WAMUKELA IMILAYEZO Imilayezo Ejwayelekile Echazwe Phambili
Amanothi Avamile
kusuka ku-[::] umlayezo ophikisana nesikhathi tag kusuka kumlayezo ohambelanayo [~~]. Ayifani tags ziyinkomba yenkathi ephukile.
Uzoqaphela ukuthi iningi lemilayezo linezihlonzi ezihlanganisa amadijithi kanye/noma izinhlamvu zesiNgisi kuphela. Eqinisweni, “Isikhathi Somamukeli” [~~] uwukuphela komlayezo osikhombi sisebenzisa uhlamvu oluthi “~”. Kunengqondo njengoba umlayezo we-[~~] udlala ingxenye ebaluleke kakhulu esebenza njenge-epoch delimiter. Ngakho kunezixwayiso ezikhethekile zokunciphisa amathuba okulahlekelwa yilo mlayezo obalulekile. Ngokufanayo, isihlonzi somlayezo "Womcimbi" ([==]), naso, kufanele sihluke ngendlela esingakhona ngayo njengoba isofthiwe yohlelo lokusebenza ingase isebenzise imicimbi yefomu yamahhala njengemingcele.
Umqondo wokusebenzisa izihlonzi “ezihluke kakhulu” emilayezweni esebenza njengokuhlukanisa ucace kakhulu. Uma i-checksum yomlayezo ingalungile, vele uhlole isihlonzi saso. Uma noma yiziphi izinhlamvu zenkomba ziqondana nokuthi “~”, mancane amathuba okuthi lona umlayezo owonakele [~~]. Ngakho-ke, awudingi ukweqela kumlayezo olandelayo [~~] kulesi simo.
Ngakolunye uhlangothi, uma umlayezo unesheke elilungile kodwa enye yezinhlamvu zenkomba ithi “~”, kungaba okuphephile ukuphatha lo mlayezo njengomyalezo owonakele [~~]. Kulokhu yeqela kumlayezo olandelayo [~~].

Izinhlobo Zesixazululo

Inkambu ethi “solType” esetshenziswa emilayezweni eminingi echazwe ngaphambilini iveza uhlobo lwesixazululo esihambisanayo futhi ingase ibe namanani alandelayo:
Ithebula 3-3. Izinhlobo Zesixazululo

Inani

Incazelo

cha

Amadokhumenti / Izinsiza

I-JAVAD GREIS GNSS Receiver Yangaphandle Interface [pdf] Umhlahlandlela Womsebenzisi
I-GREIS GNSS Receiver External Interface, GREIS, I-GNSS Receiver External Interface, Isamukeli Sangaphandle Isixhumi esibonakalayo, Isixhumi esibonakalayo sangaphandle, isixhumi esibonakalayo

Izithenjwa

Imaniwali yosebenzisayo

I-JAVAD GREIS GNSS Receiver Yangaphandle Interface

Imininingwane

Ulwazi Lomkhiqizo

Isingeniso

Ulimi Lokufaka Lomamukeli

Imilayezo yomamukeli

Imibuzo Evame Ukubuzwa

Amadokhumenti / Izinsiza

Izithenjwa

Shiya amazwana

Khansela impendulo