L3 Comminications SERIES 5000 Operation And Maintenance Manual - C.3 Remote Control
C-10
APPENDIX C TPU Software Interface and Control
Series 5000 Sonar System Operations and Maintenance Manual
P/N 11210060, Rev. 13.0
An example script is as follows:
set RANGE 2
set TXWAVEFORM 0
set RESPDIV 3
set RESPFREQ 7
set DESPECKLESWITCH 0
set SPEEDFILTERSWITCH 1
set TVGPAGE 7
set HEARTBEAT 0
set SPEEDSOUND 150000
set RESMODE 0
set BAUDRATE 9600
set ALTIMETER 1
set BEAMBALANCE 100
The file is typically given the name "startup.ini"and is located in the same
directory as the VxWorks file. The full path to startup script file must be entered
into the "startup script" parameter field in the boot configuration. (See “TPU LAN
Configuration Setup” on page D-24 for details on boot parameters.) For example:
if the file is located in /klein, then the "startup script" parameter must be set to /
klein/startup.ini.
C.3 Remote Control
COM2 is a NMEA 0183 serial port used for inputting navigation data to the TPU.
In addition to the standard messages that are accepted (i.e. RMC, GGA, refer to
manual for details) the TPU also accepts proprietary messages of the form:
$PKLA,aaddd*hh
where aa is two-letter command code, ddd is a variable length hexadecimal data
field and hh is the checksum computed for the characters between the ‘$’ and the
‘*’. Note that the checksum need not be included, it is only required by the NMEA
standard but the TPU does not reject a message if the checksum is not present.
Therefore one may simply issue a command as: $PKLA,aaddd
however, technically violates the NMEA standard although the TPU will still
interpret the message and act accordingly. Refer to the NMEA 0183 specification
for more information on proprietary messages. These messages may also be used
to control the sonar. Note that if a master client is already controlling the sonar (i.e.