CFGMSG: Configure Message Output Frequency
Applicable to: UC6580, UM620 series, UM621 series, UM670A, UM680A, UM681A
Read Message Output Configuration
| Syntax | $CFGMSG,msgClass,msgID | |
|---|---|---|
| Example | $CFGMSG,0,1 | |
| Description | Read the message output configuration. The receiver outputs CFGMSG message after receiving this command. |
|
| Input/Output | Input | |
| Parameter Definition | ||
| Parameter | Format | Description |
| msgClass | UINT | Message class; see the table Message Class and ID below |
| msgID | UINT | Message ID; see the table Message Class and ID below |
Set/Output Message Output Frequency
| Syntax | $CFGMSG,msgClass,msgID,Rate/Switch | |
|---|---|---|
| Example | $CFGMSG,0,1,1 | |
| Description | Set or output the message output frequency. | |
| Input/Output | Input/output | |
| Parameter Definition | ||
| Parameter | Format | Description |
| msgClass | UINT | Message class; see the table Message Class and ID |
| msgID | UINT | Message ID; see the table Message Class and ID; |
| Rate/Switch | UINT | Rate: The ratio of reference output frequency to the configured output frequency; range: 0 to 100; 0 means disable the output. Take a NMEA message as an example: The NMEA message reference output frequency is equal to the positioning frequency (1000/NavRate), and the Rate defines that the receiver selects a message to output after performing N times positioning solutions. Eg. When the positioning frequency is configured to be 10 Hz by CFGNAV, if you need an output frequency at 10 Hz, then you configure the rate to 1, and similarly configure the rate to 2 if 5 Hz output frequency is needed. In summary, in NMEA messages Rate = 1000/NavRate/Output frequency Note: The reference output frequency cannot be less than the actual output frequency, and 1000/NavRate can be divisible by Rate or Rate can be divisible by 1000/NavRate. Switch: 0 - Disable the corresponding message 1 - Enable the corresponding message |
Message Class and ID ↩
| Messages | Class | ID | Rate |
| GGA | 0: Configure the four ports or query the current port 100: NMEA messages at I2C port 200: NMEA messages at UART1 port 300: NMEA messages at UART2 port 400: NMEA messages at SPI port |
0 | 1000/NavRate/Output frequency |
| GLL | 1 | ||
| GSA | 2 | ||
| GSV | 3 | ||
| RMC | 4 | ||
| VTG | 5 | ||
| ZDA | 6 | ||
| GST | 7 | ||
| GBS | 8 | ||
| Messages1 | Class | ID | Rate |
| RTCM MSM | 2: Configure the four ports or query the current port 102: Observation messages at I2C port 202: Observation messages at UART1 port 302: Observation messages at UART2 port 402: Observation messages at SPI port |
3 | 1000/MeasRate/Output frequency |
| RTCM EPH | 4 | ||
| RTCM STM (1005) | 5 | ||
| System Parameters (1013) | 14 | ||
| Messages2 | Class | ID | Rate |
| GYOACC | 4: Configure the four ports or query the current port 104: Sensor fusion messages at I2C port 204: Sensor fusion messages at UART1 port 304: Sensor fusion messages at UART2 port 404: Sensor fusion messages at SPI port |
0 | 1000/DRNavRate/Output frequency |
| SNRSTAT | 1 | ||
| NAVATT | 2 | ||
| IMURAW | 3 | 1000/IMUMeasRate/Output frequency | |
| INSPVA | 4 | 1000/DRNavRate/Output frequency | |
| IMUVEH | 5 | 1000/IMUMeasRate/Output frequency | |
| Messages | Class | ID | Rate |
| CWOUT3 | 5: Configure the four ports or query the current port 105: Misc messages at I2C port 205: Misc messages at UART1 port 305: Misc messages at UART2 port 405: Misc messages at SPI port |
0 | 0 - disable; 1 - enable |
| OSNMA4 | 1 | 0 - disable; 1 - enable |
|
| Messages | Class | ID | Rate |
| General Notice Messages | 6: Configure the four ports or query the current port 106: Notice messages at I2C port 206: Notice messages at UART1 port 306: Notice messages at UART2 port 406: Notice messages at SPI port |
0 | 1000/NavRate/Output frequency |
| Notice Message Package | 1 | ||
| Command Echo | 2 | 0 - disable; 1 - enable |
|
| Messages5 | Class | ID | Rate |
| GGA | 7: Configure the four ports or query the current port 107: Second NMEA messages at I2C port 207: Second NMEA messages at UART1 port 307: Second NMEA messages at UART2 port 407: Second NMEA messages at SPI port |
0 | 1000/NavRate/Output frequency |
| GLL | 1 | ||
| GSA | 2 | ||
| GSV | 3 | ||
| RMC | 4 | ||
| VTG | 5 | ||
| ZDA | 6 | ||
| GST | 7 | ||
| GBS | 8 | ||
| Messages2 | Class | ID | Rate |
| GYOACC | 8: Configure the four ports or query the current port 108: Observation messages at I2C port 208: Observation messages at UART1 port 308: Observation messages at UART2 port 408: Observation messages at SPI port |
0 | 1000/DRNavRate/Output frequency |
| SNRSTAT | 1 | ||
| NAVATT | 2 | ||
| IMURAW | 3 | 1000/IMUMeasRate/Output frequency | |
| INSPVA | 4 | 1000/DRNavRate/Output frequency | |
| IMUVEH | 5 | 1000/IMUMeasRate/Output frequency | |
| Messages6 | Class | ID | Rate |
| Receiver InformationC | 9: Configure the four ports or query the current port 109: Observation messages at I2C port 209: Observation messages at UART1 port 309: Observation messages at UART2 port 409: Observation messages at SPI port |
1 | 1000/MeasRate/Output frequency |
| Signal Information | 2 | ||
| TGD | 3 | ||
| ION | 4 |
See section CFGNAV for the information of NavRate, MeasRate and DRNavRate, and section CFGIMUMEAS for that of IMUMeasRate.
1. Supported by UM670A, UM680A and UM681A. ↩
2. Supported by UM621 series and UM681A. ↩
3. Output at constant 1 Hz. ↩
4. Output at constant 0.5 Hz only when there is no error code in GALILEO messages. ↩
5. Supported by UM621N series. ↩
6. Supported by UC6580, UM670A and UM680A. ↩