1<?xml version="1.0" encoding="ISO-8859-1"?> 2<!-- 3This file is Copyright (c) 2018 by the GPSD project 4BSD terms apply: see the file COPYING in the distribution root for details. 5--> 6<!DOCTYPE refentry PUBLIC 7 "-//OASIS//DTD DocBook XML V4.1.2//EN" 8 "http://www.oasis-open.org/docbook/xml/4.1.2/docbookx.dtd"> 9<refentry id='zerk.1'> 10 <refentryinfo> 11 <date>18 Sep 2018</date> 12 </refentryinfo> 13 <refmeta> 14 <refentrytitle>zerk</refentrytitle> 15 <manvolnum>1</manvolnum> 16 <refmiscinfo class="source">The GPSD Project</refmiscinfo> 17 <refmiscinfo class="manual">GPSD Documentation</refmiscinfo> 18 </refmeta> 19 <refnamediv id='name'> 20 <refname>zerk</refname> 21 <refpurpose>All purpose GREIS fitting</refpurpose> 22 </refnamediv> 23 <refsynopsisdiv id='synopsis'> 24 <cmdsynopsis> 25 <command>zerk</command> 26 <arg choice='opt'>-? </arg> 27 <arg choice='opt'>-c <replaceable>command</replaceable> 28 </arg> 29 <arg choice='opt'>-d <replaceable>disable</replaceable> 30 </arg> 31 <arg choice='opt'>-e <replaceable>enable</replaceable> 32 </arg> 33 <arg choice='opt'>-f <replaceable>file/device</replaceable> 34 </arg> 35 <arg choice='opt'>-h </arg> 36 <arg choice='opt'>-O <replaceable>oaf</replaceable> 37 </arg> 38 <arg choice='opt'>-p <replaceable>preset</replaceable></arg> 39 <arg choice='opt'>-R <replaceable>rawfile</replaceable> 40 </arg> 41 <arg choice='opt'>-r </arg> 42 <arg choice='opt'>-S <replaceable>setspeed</replaceable> 43 </arg> 44 <arg choice='opt'>-s <replaceable>speed</replaceable> 45 </arg> 46 <arg choice='opt'>-V </arg> 47 <arg choice='opt'>-v <replaceable>verbosity</replaceable> 48 </arg> 49 <arg choice='opt'>-W </arg> 50 <arg choice='opt'>-w <replaceable>wait</replaceable> 51 </arg> 52 <arg choice='opt'>[server[:port[:device]]]</arg> 53 </cmdsynopsis> 54 </refsynopsisdiv> 55 <refsect1 id='description'> 56 <title>DESCRIPTION</title> 57 <para> 58 <application>zerk</application> is an all purpose GREIS fitting. 59If you do not have a Javad GPS that speaks the GREIS protocol then you 60can stop reading now.</para> 61 <para>This tool operates with your Javad GPS at a very low level. 62To understand <application>zerk</application> you must first be familiar 63with your Javad GPS and the documentation for the GREIS protocol. 64<ulink url="http://www.javad.com/downloads/javadgnss/manuals/GREIS/GREIS_Reference_Guide.pdf">GREIS (GNSS Receiver External Interface Specification) Guide</ulink>. 65</para> 66 <para> 67 <application>zerk</application> can decode common GREIS messages, 68poll the GPS status, enable and disable GPS features, and send user 69generated commands to the GPS. It can read GREIS messages from a file. It 70can read and write directly through a serial device, or through a 71running gpsd instance.</para> 72 </refsect1> 73 <refsect1 id='options'> 74 <title>OPTIONS</title> 75 <para>The program accepts the following options:</para> 76 <variablelist remap='TP'> 77 <varlistentry> 78 <term>-c COMMAND</term> 79 <listitem> 80 <para>Send a text string to the GPS. Accepts one parameter, COMMAND, 81the command string to send to the GPS. The string is sent verbatim, except 82a newline is appended. 83</para> 84 </listitem> 85 </varlistentry> 86 <varlistentry> 87 <term>-d OPTION</term> 88 <listitem> 89 <para>Disable an option in the GPS. Accepts one parameter, OPTION, 90the option to disable. <application>zerk</application> will exit after 91the GPS acknowledges the command, unless the -W is given. 92</para> 93 <variablelist> 94 <varlistentry> 95 <term>4HZ</term> 96 <listitem> 97 <para>Disable basic GREIS messages at 4Hz. The messages are: 98[RT], [UO], [GT], [PV], [SG], [DP], [SI], [EL], [AZ], [EC], [SS], and 99[ET]</para> 100 </listitem> 101 </varlistentry> 102 <varlistentry> 103 <term>COMPASS</term> 104 <listitem> 105 <para>Disable use of the COMPASS (BeiDou) constellation.</para> 106 </listitem> 107 </varlistentry> 108 <varlistentry> 109 <term>CONS</term> 110 <listitem> 111 <para>Disable use of all constellations.</para> 112 </listitem> 113 </varlistentry> 114 <varlistentry> 115 <term>DEFMSG</term> 116 <listitem> 117 <para>Disable the default message set (/dev/msg) at 1Hz.</para> 118 </listitem> 119 </varlistentry> 120 <varlistentry> 121 <term>GALILEO</term> 122 <listitem> 123 <para>Disable use of the GALILEO constellation.</para> 124 </listitem> 125 </varlistentry> 126 <varlistentry> 127 <term>GLONASS</term> 128 <listitem> 129 <para>Disable use of the GLONASS constellation.</para> 130 </listitem> 131 </varlistentry> 132 <varlistentry> 133 <term>GPS</term> 134 <listitem> 135 <para>Disable use of the GPS constellation.</para> 136 </listitem> 137 </varlistentry> 138 <varlistentry> 139 <term>IPR</term> 140 <listitem> 141 <para>Disable all Integer Pseudo Range messages. These are 142 [rx], [rc], [r1], [r2], [r3], [r5], [rl].</para> 143 </listitem> 144 </varlistentry> 145 <varlistentry> 146 <term>IRNSS</term> 147 <listitem> 148 <para>Disable use of the IRNSS constellation.</para> 149 </listitem> 150 </varlistentry> 151 <varlistentry> 152 <term>NMEA</term> 153 <listitem> 154 <para>Disable basic NMEA 4.1e messages at 4Hz. The messages are 155GBS, GGA, GSA, GST, GSV, RMC, VTG, and ZDA.</para> 156 </listitem> 157 </varlistentry> 158 <varlistentry> 159 <term>QZSS</term> 160 <listitem> 161 <para>Disable use of the QZSS constellation.</para> 162 </listitem> 163 </varlistentry> 164 <varlistentry> 165 <term>SBAS</term> 166 <listitem> 167 <para>Disable use of the SBAS constellation.</para> 168 </listitem> 169 </varlistentry> 170 <varlistentry> 171 <term>SNR</term> 172 <listitem> 173 <para>Disable all SNR messages, except [EC]. The messages 174disabled are: [E1], [E2], [E3], [E5], [El].</para> 175 </listitem> 176 </varlistentry> 177 </variablelist> 178 </listitem> 179 </varlistentry> 180 <varlistentry> 181 <term>-e OPTION</term> 182 <listitem> 183 <para>Enable an option in the GPS. Accepts one parameter, OPTION, 184the option to enable. <application>zerk</application> will exit after 185the GPS acknowledges the command, unless the -W is given. -e accepts the 186same OPTIONs as -d, except the action is to enable the option. 187</para> 188 </listitem> 189 </varlistentry> 190 <varlistentry> 191 <term>-f FILE</term> 192 <listitem> 193 <para>Connect to a file or device. Accepts one parameter, FILE, 194the file or device to open. Files are opened read-only. Character 195devices are opened read/write, unless the -r parameter is given. 196Requires the pyserial module. 197</para> 198 </listitem> 199 </varlistentry> 200 <varlistentry> 201 <term>-h</term> 202 <listitem> 203 <para>Makes <application>zerk</application> print 204a usage message and exit.</para> 205 </listitem> 206 </varlistentry> 207 <varlistentry> 208 <term>-O OAF</term> 209 <listitem> 210 <para>Load an Option Authorization File (OAF) into the GPS. Accepts 211one parameter, OAF, command file to read. The OAF is just a special case 212of a .jpo (GREIS command file). -O will send any valid .jpo file to 213the GPS. 214</para> 215 </listitem> 216 </varlistentry> 217 <varlistentry> 218 <term>-p PRESET</term> 219 <listitem> 220 <para>Send a preset command the GPS. Accepts one parameter, PRESET, 221the name of the command to send. <application>zerk</application> will exit after 222the GPS acknowledges the command, unless the -W is given. 223</para> 224 <variablelist> 225 <varlistentry> 226 <term>COLDBOOT</term> 227 <listitem> 228 <para>Coldboot the GPS.</para> 229 </listitem> 230 </varlistentry> 231 <varlistentry> 232 <term>CONS</term> 233 <listitem> 234 <para>Poll the enabled constellations.</para> 235 </listitem> 236 </varlistentry> 237 <varlistentry> 238 <term>DM</term> 239 <listitem> 240 <para>Disable all periodic GREIS messages..</para> 241 </listitem> 242 </varlistentry> 243 <varlistentry> 244 <term>ID</term> 245 <listitem> 246 <para>Poll the receiver ID.</para> 247 </listitem> 248 </varlistentry> 249 <varlistentry> 250 <term>IPR</term> 251 <listitem> 252 <para>Poll all Integer Pseudo Range messages. These are 253 [rx], [rc], [r1], [r2], [r3], [r5], [rl].</para> 254 </listitem> 255 </varlistentry> 256 <varlistentry> 257 <term>OAF</term> 258 <listitem> 259 <para>Poll all OAF options.</para> 260 </listitem> 261 </varlistentry> 262 <varlistentry> 263 <term>RESET</term> 264 <listitem> 265 <para>Reset (reboot) the GPS.</para> 266 </listitem> 267 </varlistentry> 268 <varlistentry> 269 <term>SERIAL</term> 270 <listitem> 271 <para>Poll receiver serial number.</para> 272 </listitem> 273 </varlistentry> 274 <varlistentry> 275 <term>SNR</term> 276 <listitem> 277 <para>Poll all Signal to Noise Ratio (SNR) messages. 278[EC], [E1], [E2], [E3], [E5], [El].</para> 279 </listitem> 280 </varlistentry> 281 <varlistentry> 282 <term>VENDOR</term> 283 <listitem> 284 <para>Poll GPS vendor.</para> 285 </listitem> 286 </varlistentry> 287 <varlistentry> 288 <term>VER</term> 289 <listitem> 290 <para>Poll GPS version.</para> 291 </listitem> 292 </varlistentry> 293 </variablelist> 294 </listitem> 295 </varlistentry> 296 <varlistentry> 297 <term>-r</term> 298 <listitem> 299 <para>Read only. Do not send anything to the GPS.</para> 300 </listitem> 301 </varlistentry> 302 <varlistentry> 303 <term>-R RAW</term> 304 <listitem> 305 <para>Save all raw data from the GPS into the file RAW.</para> 306 </listitem> 307 </varlistentry> 308 <varlistentry> 309 <term>-S SPEED</term> 310 <listitem> 311 <para>Configure the GPS serial speed to SPEED bps.</para> 312 </listitem> 313 </varlistentry> 314 <varlistentry> 315 <term>-s SPEED</term> 316 <listitem> 317 <para>Set local serial port speed to SPEED bps. Default 115,200 bps.</para> 318 </listitem> 319 </varlistentry> 320 <varlistentry> 321 <term>-V</term> 322 <listitem> 323 <para>Print <application>zerk</application> version and exit.</para> 324 </listitem> 325 </varlistentry> 326 <varlistentry> 327 <term>-v VERBOSITY</term> 328 <listitem> 329 <para>Set verbosity level to VERBOSITY. Verbosity can be from 0 330 (very quiet), to 4 (very noisy). Default 2.</para> 331 </listitem> 332 </varlistentry> 333 <varlistentry> 334 <term>-v VERBOSITY</term> 335 <listitem> 336 <para>Set verbosity level to VERBOSITY. Verbosity can be from 0 337 (very quiet), 2 (decode messages), to 4 (very noisy). Default 1.</para> 338 </listitem> 339 </varlistentry> 340 <varlistentry> 341 <term>-W</term> 342 <listitem> 343 <para>Force waiting the entire wait time. No early exit for completion 344of -d, -e or -p command.</para> 345 </listitem> 346 </varlistentry> 347 <varlistentry> 348 <term>-w WAIT</term> 349 <listitem> 350 <para>Wait for WAIT seconds before exiting. Will exit early on command 351completion of -d, -e or -p command, unless -W is given. Default 2.0 second.</para> 352 </listitem> 353 </varlistentry> 354 <varlistentry> 355 <term>[server[:port[:device]]]</term> 356 <listitem> 357 <para> 358 By default, <application>zerk</application> collects data from all compatible devices on 359 localhost, using the default GPSD port 2947. An optional argument 360 may specify a server to get data from. A 361 colon-separated suffix is taken as a port number. If there is a 362 second colon-separated suffix, that is taken as a specific device 363 name to be watched. Further details on the 364<citerefentry> 365 <refentrytitle>gps</refentrytitle> 366 <manvolnum>1</manvolnum> 367 </citerefentry> man page. 368 </para> 369 </listitem> 370 </varlistentry> 371 <varlistentry> 372 <term>-?</term> 373 <listitem> 374 <para>Makes <application>zerk</application> print 375a usage message and exit.</para> 376 </listitem> 377 </varlistentry> 378 </variablelist> 379 </refsect1> 380 <refsect1 id='environment'> 381 <title>ENVIRONMENT</title> 382 <para>Options can be placed in the ZERKOPTS environment variable. 383ZERKOPTS is processed before the CLI options.</para> 384 </refsect1> 385 <refsect1 id='examples'> 386 <title>EXAMPLES</title> 387 <para> 388Print current Javad serial portC of GPS connected to local running gpsd:: 389<programlisting> 390 zerk -c "print,/cur/term" 391</programlisting> 392 </para> 393 <para> 394Decode raw log file: 395<programlisting> 396zerk -r -f greis-binary.log -v 2 397</programlisting> 398 </para> 399 <para> 400Change GPS port speed of device on /dev/ttyAMA0 to 230,400 bps:: 401<programlisting> 402zerk -S 230400 -f /dev/ttyAMA0 403</programlisting> 404 </para> 405 <para> 406Watch entire GPS reset cycle: 407<programlisting> 408zerk -p RESET -v 2 -w 20 -W 409</programlisting> 410 </para> 411 <para> 412Poll SVs Status: 413<programlisting> 414zerk -W -w 2 -v 2 -c "out,,jps/{CS,ES,GS,Is,WS,QS}" 415</programlisting> 416Dump gpsd data from remote server: 417<programlisting> 418zerk -v 2 -w 5 server 419</programlisting> 420 </para> 421 </refsect1> 422 <refsect1 id='see_also'> 423 <title>SEE ALSO</title> 424 <para> 425 <application>zerk</application> is written to conform to the official 426Javad documentation for the GREIS protocol. 427<ulink url="http://www.javad.com/downloads/javadgnss/manuals/GREIS/GREIS_Reference_Guide.pdf">GREIS (GNSS Receiver External Interface Specification) Guide</ulink>. 428</para> 429 <para> 430 <citerefentry> 431 <refentrytitle>gpsd</refentrytitle> 432 <manvolnum>8</manvolnum> 433 </citerefentry>, 434<citerefentry> 435 <refentrytitle>gps</refentrytitle> 436 <manvolnum>1</manvolnum> 437 </citerefentry>, 438<citerefentry> 439 <refentrytitle>cgps</refentrytitle> 440 <manvolnum>1</manvolnum> 441 </citerefentry>, 442<citerefentry> 443 <refentrytitle>xgps</refentrytitle> 444 <manvolnum>1</manvolnum> 445 </citerefentry>, 446<citerefentry> 447 <refentrytitle>gpsfake</refentrytitle> 448 <manvolnum>1</manvolnum> 449 </citerefentry>, 450<citerefentry> 451 <refentrytitle>gpsctl</refentrytitle> 452 <manvolnum>1</manvolnum> 453 </citerefentry>, 454<citerefentry> 455 <refentrytitle>gpscat</refentrytitle> 456 <manvolnum>1</manvolnum> 457 </citerefentry>, 458<citerefentry> 459 <refentrytitle>gnuplot</refentrytitle> 460 <manvolnum>1</manvolnum> 461 </citerefentry>. 462</para> 463 </refsect1> 464 <refsect1 id='maintainer'> 465 <title>AUTHOR</title> 466 <para>Gary E. Miller<email>gem@rellim.com</email> 467 </para> 468 </refsect1> 469</refentry> 470