User's Manual

V7 EXTERNAL ANTENNA RTLS MODULE USER MANUAL
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The RTLS module supports communication over UART interfaces.
4.2.1. UART Interface
The UART is the full duplex bi-directional interface between the module and the external host
device.
The following is the physical configuration of the UART:
Baud rate: 115200.
No hardware flow control.
8N1 byte format.
4.2.1.1. UART Modes of Operation
The module’s UART has two modes of operation, command and binary.
Command mode is used to provide the communication interface described in this document.
Binary mode is used to provide the sensor interface communication channel described in “[3]
Sensor Interface User Guide”. When UART is set to operate in binary mode, the module does
not process incoming data and sends its payload as a binary sensor data packet directly to the
server.
During boot-up, the UART is configured to command mode for 30 seconds. After 30 seconds,
the module checks the “Keep CMD on” flag. If the flag is set, the UART stays in command mode
until it receives a different configuration from the server or is turned off using the command line.
If the flag is not set, the module turns off UART after 30 seconds. After it turns off, it can be
turned on again only after rebooting. The flag can be configured using the CFG UART
command described below.
4.2.2. Outgoing Messages
The available message types are:
#POS—calculated position
#ALM—alarm message
#MSG—text message received from the server
#IMU—raw output of the IMU
#VER—printing hardware and firmware versions
#CFG—module configuration
4.2.2.1. #POS - Position update
Position update messages start with a #POS preamble and have the following content fields:
Type
Values
Description
x int32 Position X in mm.
y int32 Position Y in mm.