GNSS AT commands

The following commands list contains GNSS-related AT commands.

Run GNSS

The #XGPS command controls the GNSS.

Set command

The set command allows you to start and stop the GNSS.

Syntax

#XGPS=<op>[,<interval>[,<timeout>]]

The <op> parameter accepts the following integer values:

  • 0 - Stop GNSS

  • 1 - Start GNSS

The <interval> parameter represents the GNSS fix interval in seconds. It must be set when starting the GNSS. It accepts the following integer values:

  • 0 - Single-fix navigation mode.

  • 1 - Continuous navigation mode. The fix interval is set to 1 second

  • Ranging from 10 to 65535 - Periodic navigation mode. The fix interval is set to the specified value.

In periodic navigation mode, the <timeout> parameter controls the maximum time in seconds that the GNSS receiver is allowed to run while trying to produce a valid PVT estimate. In continuous navigation mode, this parameter does not have any effect. It accepts the following integer values:

  • 0 - The GNSS receiver runs indefinitely until a valid PVT estimate is produced.

  • Any positive integer lower than the <interval> value - The GNSS receiver is turned off after the specified time is up, even if a valid PVT estimate was not produced.

When not specified, it defaults to a timeout value of 60 seconds.

Unsolicited notification

#XGPS: <latitude>,<longitude>,<altitude>,<accuracy>,<speed>,<heading>,<datetime>

  • The <latitude> value represents the latitude in degrees.

  • The <longitude> value represents the longitude in degrees.

  • The <altitude> value represents the altitude above the WGS-84 ellipsoid in meters.

  • The <accuracy> value represents the accuracy (2D 1-sigma) in meters.

  • The <speed> value represents the horizontal speed in meters.

  • The <heading> value represents the heading of the movement of the user in degrees.

  • The <datetime> value represents the UTC date-time.

#XGPS: <NMEA message>

The <NMEA message> is the $GPGGA (Global Positioning System Fix Data) NMEA sentence.

#XGPS: <gnss_service>,<gnss_status>

Refer to the READ command.

Example

AT%XSYSTEMMODE=0,0,1,0

OK
AT%XCOEX0=1,1,1565,1586

OK
AT+CFUN=31

OK
AT#XGPS=1,1

#XGPS: 1,1

OK

#XGPS: 35.457576,139.625090,121.473785,22.199919,0.442868,0.000000,"2021-06-02 06:25:48"

#XGPS: 35.457550,139.625115,124.293533,15.679427,0.263094,0.000000,"2021-06-02 06:25:49"

#XGPS: 35.457517,139.625094,120.865372,12.768595,0.166673,0.000000,"2021-06-02 06:25:50"

Read command

The read command allows you to check GNSS support and service status.

Syntax

#XGPS?

Response syntax

#XGPS: <gnss_service>,<gnss_status>

  • The <gnss_service> value is an integer. When it returns the value of 1, it means that GNSS is supported in %XSYSTEMMODE and activated in +CFUN.

  • The <gnss_status> value is an integer.

  • 0 - GNSS is stopped.

  • 1 - GNSS is started.

  • 2 - GNSS wakes up in periodic mode.

  • 3 - GNSS enters sleep because of timeout.

  • 4 - GNSS enters sleep because a fix is achieved.

Example

AT#XGPS?

#XGPS: 1,1

OK

Test command

The test command tests the existence of the command and provides information about the type of its subparameters.

Syntax

#XGPS=?

Example

AT#XGPS=?

#XGPS: (0,1),<interval>,<timeout>

OK

Connect to nRF Cloud

The #XNRFCLOUD command controls the connection to the nRF Cloud service.

Note

To use #XNRFCLOUD, you must first provision the device to nRF Cloud, using the UUID from the modem firmware as device ID.

Set command

The set command allows you to connect and disconnect the nRF Cloud service.

Syntax

#XNRFCLOUD=<op>[,<signify>]

The <op> parameter accepts the following integer values:

  • 0 - Disconnect from the nRF Cloud service.

  • 1 - Connect to the nRF Cloud service.

  • 2 - Send a message in the JSON format to the nRF Cloud service.

When <op> is 2, SLM enters slm_data_mode.

The <signify> parameter is used only when the <op> value is 1 It accepts the following integer values:

  • 0 - It does not signify the location info to nRF Cloud.

  • 1 - It does signify the location info to nRF Cloud.

When the <signify> parameter is not specified, it does not signify the location info to nRF Cloud.

Note

The application signifies the location info to nRF Cloud in a best-effort way. The minimal report interval is 5 seconds.

Note

The application supports nRF Cloud cloud2device appId MODEM to send AT command from cloud:

  • cloud2device schema:

    {"appId":"MODEM", "messageType":"CMD", "data":"<AT_command>"}.

  • device2cloud schema:

    {"appId":"MODEM", "messageType":"RSP", "data":"<AT_response>"}.

The application executes the AT command in a best-effort way.

Note

The application supports nRF Cloud cloud2device appId DEVICE to gracefully disconnect from cloud:

  • cloud2device schema:

    {"appId":"DEVICE", "messageType":"DISCON"}.

There is no response sending to nRF Cloud for this appId.

Unsolicited notification

#XNRFCLOUD: <ready>,<signify>

  • The <ready> value indicates whether the nRF Cloud connection is ready or not.

  • The <signify> value indicates whether the location info will be signified to nRF Cloud or not.

#XNRFCLOUD: <message>

  • The <message> value indicates the nRF Cloud data received when A-GPS, P-GPS, and Cell_Pos are not active.

Example

AT#XNRFCLOUD=1

OK
#XNRFCLOUD: 1,0

AT#XNRFCLOUD=2
OK
{"msg":"Hello, nRF Cloud"}+++
#XDATAMODE: 0

#XNRFCLOUD: {"msg":"Hello"}

AT#XNRFCLOUD=0

AT#XNRFCLOUD: 0,0

OK
AT#XNRFCLOUD=1,1

OK
#XNRFCLOUD: 1,1
AT#XNRFCLOUD=0

AT#XNRFCLOUD: 0,1

OK

Read command

The read command checks if nRF Cloud is connected or not.

Syntax

#XNRFCLOUD?

Response syntax

#XNRFCLOUD: <ready>,<signify>,<sec_tag>,<device_id>

  • The <ready> value indicates whether the nRF Cloud connection is ready or not.

  • The <signify> value indicates whether the location info will be signified to nRF Cloud or not.

  • The <sec_tag> value indicates the sec_tag used for accessing nRF Cloud.

  • The <device_id> value indicates the device ID used for accessing nRF Cloud.

Example

AT#XNRFCLOUD?

#XNRFCLOUD: 1,0,16842753,"nrf-352656106443792"

OK

AT#XNRFCLOUD?

#XNRFCLOUD: 1,0,8888,"50503041-3633-4261-803d-1e2b8f70111a"

OK

Test command

The test command tests the existence of the command and provides information about the type of its subparameters.

Syntax

#XNRFCLOUD=?

Example

AT#XXNRFCLOUD=?

#XNRFCLOUD: (0,1,2),<signify>

OK

Run GNSS with nRF Cloud A-GPS

The #XAGPS command runs the GNSS together with the nRF Cloud A-GPS service.

Note

To use #XAGPS, the following preconditions apply:

  • You must define CONFIG_SLM_AGPS.

  • You must have access to nRF Cloud through the LTE network for receiving A-GPS data.

Set command

The set command allows you to start and stop the GNSS together with the nRF Cloud A-GPS service.

Syntax

#XAGPS=<op>[,<interval>[,<timeout>]]

The <op> parameter accepts the following integer values:

  • 0 - Stop GNSS with A-GPS

  • 1 - Start GNSS with A-GPS

The <interval> parameter represents the GNSS fix interval in seconds. It must be set when starting the GNSS. It accepts the following integer values:

  • 0 - Single-fix navigation mode.

  • 1 - Continuous navigation mode. The fix interval is set to 1 second

  • Ranging from 10 to 1800 - Periodic navigation mode. The fix interval is set to the specified value.

In periodic navigation mode, the <timeout> parameter controls the maximum time in seconds that the GNSS receiver is allowed to run while trying to produce a valid PVT estimate. In continuous navigation mode, this parameter does not have any effect. It accepts the following integer values:

  • 0 - The GNSS receiver runs indefinitely until a valid PVT estimate is produced.

  • Any positive integer lower than the <interval> value - the GNSS receiver is turned off after the specified time is up, even if a valid PVT estimate was not produced.

When not specified, it defaults to a timeout value of 60 seconds.

Unsolicited notification

#XGPS: <latitude>,<longitude>,<altitude>,<accuracy>,<speed>,<heading>,<datetime>

  • The <latitude> value represents the latitude in degrees.

  • The <longitude> value represents the longitude in degrees.

  • The <altitude> value represents the altitude above the WGS-84 ellipsoid in meters.

  • The <accuracy> value represents the accuracy (2D 1-sigma) in meters.

  • The <speed> value represents the horizontal speed in meters.

  • The <heading> value represents the heading of the movement of the user in degrees.

  • The <datetime> value represents the UTC date-time.

#XGPS: <NMEA message>

The <NMEA message> is the $GPGGA (Global Positioning System Fix Data) NMEA sentence.

#XAGPS: <gnss_service>,<agps_status>

Refer to the READ command.

Example

AT%XSYSTEMMODE=1,0,1,0

OK
AT%XCOEX0=1,1,1565,1586

OK
AT+CPSMS=1

OK
AT+CFUN=1

OK
AT#XNRFCLOUD=1

OK
#XNRFCLOUD: 1,0
AT#XAGPS=1,1

#XAGPS: 1,1

OK

#XGPS: 35.457417,139.625211,162.850952,15.621976,1.418092,0.000000,"2021-06-02 05:21:31"

#XGPS: 35.457435,139.625348,176.104797,14.245458,1.598184,69.148659,"2021-06-02 05:21:32"

#XGPS: 35.457417,139.625415,179.132980,13.318132,1.235241,69.148659,"2021-06-02 05:21:33"

#XGPS: 35.457410,139.625469,181.223541,12.667312,0.803951,69.148659,"2021-06-02 05:21:34"

Read command

The read command allows you to check GNSS support and AGPS service status.

Syntax

#XAGPS?

Response syntax

#XAGPS: <gnss_service>,<agps_status>

  • The <gnss_service> value is an integer. When it returns the value of 1, it means that GNSS is supported in %XSYSTEMMODE and activated in +CFUN.

  • The <agps_status> value is an integer.

  • 0 - AGPS is stopped.

  • 1 - AGPS is started.

  • 2 - GNSS wakes up in periodic mode.

  • 3 - GNSS enters sleep because of timeout.

  • 4 - GNSS enters sleep because a fix is achieved.

Example

AT#XAGPS?

#XAGPS: 1,1

OK

Test command

The test command tests the existence of the command and provides information about the type of its subparameters.

Syntax

#XAGPS=?

Example

AT#XAGPS=?

#XAGPS: (0,1),<interval>,<timeout>

OK

Run GNSS with nRF Cloud P-GPS

The #XPGPS command runs the GNSS together with the nRF Cloud P-GPS service.

Note

To use #XPGPS, the following preconditions apply:

  • You must define CONFIG_SLM_PGPS.

  • You must have access to nRF Cloud through the LTE network for receiving P-GPS data.

Set command

The set command allows you to start and stop the GNSS together with the nRF Cloud P-GPS service.

Syntax

#XPGPS=<op>[,<interval>[,<timeout>]]

The <op> parameter accepts the following integer values:

  • 0 - Stop GNSS with P-GPS

  • 1 - Start GNSS with P-GPS

The <interval> parameter represents the GNSS fix interval in seconds. It must be set when starting the GNSS. It accepts the following integer values:

  • Ranging from 10 to 1800 - Periodic navigation mode. The fix interval is set to the specified value.

In periodic navigation mode, the <timeout> parameter controls the maximum time in seconds that the GNSS receiver is allowed to run while trying to produce a valid PVT estimate. In continuous navigation mode, this parameter does not have any effect. It accepts the following integer values:

  • 0 - The GNSS receiver runs indefinitely until a valid PVT estimate is produced.

  • Any positive integer lower than the <interval> value - The GNSS receiver is turned off after the specified time is up, even if a valid PVT estimate was not produced.

When not specified, it defaults to a timeout value of 60 seconds.

Unsolicited notification

#XGPS: <latitude>,<longitude>,<altitude>,<accuracy>,<speed>,<heading>,<datetime>

  • The <latitude> value represents the latitude in degrees.

  • The <longitude> value represents the longitude in degrees.

  • The <altitude> value represents the altitude above the WGS-84 ellipsoid in meters.

  • The <accuracy> value represents the accuracy (2D 1-sigma) in meters.

  • The <speed> value represents the horizontal speed in meters.

  • The <heading> value represents the heading of the movement of the user in degrees.

  • The <datetime> value represents the UTC date-time.

#XGPS: <NMEA message>

The <NMEA message> is the $GPGGA (Global Positioning System Fix Data) NMEA sentence.

#XPGPS: <gnss_service>,<pgps_status>

Refer to the READ command.

Example

AT%XSYSTEMMODE=1,0,1,0

OK
AT%XCOEX0=1,1,1565,1586

OK
AT+CPSMS=1

OK
AT+CFUN=1

OK
AT#XNRFCLOUD=1

OK
#XNRFCLOUD: 1,0
AT#XPGPS=1,30

#XPGPS: 1,1

OK

#XGPS: 35.457243,139.625435,149.005020,28.184258,10.431827,281.446014,"2021-06-24 04:35:52"

#XGPS: 35.457189,139.625602,176.811203,43.015198,0.601837,281.446014,"2021-06-24 04:36:28"

#XGPS: 35.457498,139.625422,168.243591,31.753956,0.191195,281.446014,"2021-06-24 04:36:41"

#XGPS: 35.457524,139.624667,100.745979,25.324850,6.347160,94.699837,"2021-06-24 04:37:10"

Read command

The read command allows you to check GNSS support and PGPS service status.

Syntax

#XPGPS?

Response syntax

#XPGPS: <gnss_service>,<pgps_status>

  • The <gnss_service> value is an integer. When it returns the value of 1, it means that GNSS is supported in %XSYSTEMMODE and is activated in +CFUN.

  • The <pgps_status> value is an integer.

  • 0 - PGPS is stopped.

  • 1 - PGPS is started.

  • 2 - GNSS wakes up in periodic mode.

  • 3 - GNSS enters sleep because of timeout.

  • 4 - GNSS enters sleep because a fix is achieved.

Test command

The test command tests the existence of the command and provides information about the type of its subparameters.

Syntax

#XPGPS=?

Example

AT#XPGPS=?

#XPGPS: (0,1),<interval>,<timeout>

OK

Delete GNSS data

The #XGPSDEL command deletes GNSS data from non-volatile memory. This command should be issued when GNSS is activated but not started yet.

Set command

The set command allows you to delete old GNSS data.

Syntax

#XGPSDEL=<mask>

The <mask> parameter accepts an integer that is the OR value of the following bitmasks :

  • 0x001 - Ephemerides

  • 0x002 - Almanacs (excluding leap second and ionospheric correction)

  • 0x004 - Ionospheric correction parameters

  • 0x008 - Last good fix (the last position)

  • 0x010 - GPS time-of-week (TOW)

  • 0x020 - GPS week number

  • 0x040 - Leap second (UTC parameters)

  • 0x080 - Local clock (TCXO) frequency offset

  • 0x100 - Precision estimate of GPS time-of-week (TOW)

  • 511 - All of the above

Example

AT%XSYSTEMMODE=0,0,1,0
OK
AT+CFUN=31
OK
AT#XGPSDEL=511
OK
AT+CFUN=0
OK

Read command

The read command is not supported.

Test command

The test command tests the existence of the command and provides information about the type of its subparameters.

Syntax

#XGPSDEL=?

Example

AT#XGPSDEL=?

#XGPSDEL: <mask>

OK

Run nRF Cloud cellular positioning

The #XCELLPOS command runs the nRF Cloud cellular positioning service for position information.

Note

To use #XCELLPOS, the following preconditions apply:

  • You must define CONFIG_SLM_CELL_POS.

  • You must have access to nRF Cloud through the LTE network.

Set command

The set command allows you to start and stop the nRF Cloud cellular positioning service.

Syntax

#XCELLPOS=<op>

The <op> parameter accepts the following integer values:

  • 0 - Stop cellular positioning.

  • 1 - Start cellular positioning in single-cell mode.

  • 2 - Start cellular positioning in multi-cell mode. To use 2, you must issue the AT%NCELLMEAS command first.

Unsolicited notification

#XCELLPOS: <type>,<latitude>,<longitude>,<uncertainty>

  • The <type> value indicates in which mode the cellular positioning server is running:

    • 0 - The server is running in single-cell mode

    • 1 - The server is running in multi-cell mode

  • The <latitude> value represents the latitude in degrees.

  • The <longitude> value represents the longitude in degrees.

  • The <uncertainty> value represents the certainty of the result.

Example

AT%XSYSTEMMODE=1,0,0,0

OK
AT+CFUN=1

OK
AT#XNRFCLOUD=1

OK
#XNRFCLOUD: 1,0
AT#XCELLPOS=1

OK

#XCELLPOS: 0,35.455833,139.626111,1094

AT%NCELLMEAS

OK

%NCELLMEAS: 0,"0199F10A","44020","107E",65535,3750,5,49,27,107504,3750,251,33,4,0,475,107,26,14,25,475,58,26,17,25,475,277,24,9,25,475,51,18,1,25

AT#XCELLPOS=2

OK

#XCELLPOS: 1,35.534999,139.722362,1801
AT#XCELLPOS=0

OK

Read command

The read command allows you to check GNSS support and CELLPOS service status.

Syntax

#XCELLPOS?

Response syntax

#XCELLPOS: <gnss_service>,<cellpos_status>

  • The <gnss_service> value is an integer. When it returns the value of 1, it means that GNSS is supported in %XSYSTEMMODE and is activated in +CFUN.

Note

CELLPOS does not require the GNSS service in modem.

  • The <cellpos_status> value is an integer. When it returns the value of 1, it means that CELLPOS is started.

Example

AT#XAGPS?

#XAGPS: 1,1

OK

Test command

The test command tests the existence of the command and provides information about the type of its subparameters.

Syntax

#XCELLPOS=?

Example

AT#XCELLPOS=?

#XCELLPOS: (0,1,2)

OK