dmac

ROS driver for the Evologics Underwater Modems

Basic commands

• ATC - command mode

• ATO - data mode

• AT@ZX - extended notifications {0:off 1:on}

• AT?RP - promiscuous mode {0:off 1:on}

• AT@ZU - show USBL messages {0:off 1:on}

• ATZ - restart

• ATI - 0:firmware 1:phy_proto,data_prot 7:manufacturer

• AT&W - store settings

• AT?L - source level (from highest to lowest): {0,1,2,3}

• AT?C - waveform (2 for network)

• AT?AL - local address

• AT?CA - sound speed

• AT?T - time of flight (ms)

• AT?AM - maximum number of nodes {2,6,14,30,62,126,254}

• ATN - noise mode

• AT?E - noise profiling

• Instant messages:

AT*SENDIM,<length>,<destination address>,<flag>,<data>`
DELIVEREDIM,<destination address>`
FAILEDIM,<destination address>`
CANCELLEDIM,<destination address>`
RECVIM,<length>,<source address>,<destination address>,<flag>,
       <duration>,<rssi>,<integrity>,<velocity>,<data>

• Piggyback messages:

AT*SENDPBM,<length>,<destination address>,<data>
CANCELLEDPBM,<destination address>
RECVPBM,<length>,<source address>,<destination address>,
        <duration>,<rssi>,<integrity>,<velocity>,<data>

• Position measurements

USBLLONG,<current time>,<measurement time>,<remote address>,
<X>,<Y>,<Z>,<E>,<N>,<U>,<roll>,<pitch>,<yaw>,<propagation time>,
<rssi>,<integrity>,<accuracy>
USBLANGLES,<current time>,<measurement time>,<remote_address>,<lbearing>,
<lelevation>,<bearing>,<elevation>,<roll,>,<pitch>,<yaw>,<rssi>,<integrity>,
<accuracy>

Other commands

• ATH - close connection
• AT?S - connection status
• AT&V - device settings
• AT?LC - source level control
• AT?G - gain {0 = normal, 1 = low (-20 dB)}
• AT?AR - remote address
• AT?ZC - cluster size
• AT?ZP - packet time
• AT?RC - retry count
• AT?RT - retry timeout
• AT?ZI - idle timeout
• AT?ZS - stream number
• AT?ZSL - stream number list
• AT?ZL - pool size
• AT?ZD - propagation counter
• AT?ZO - overflow counter
• AT?UT - system time
• AT?RI - IM retry count
• AT?DI - IM delivery status
• AT?DA - wakeup active time
• AT?DT - wakeup period
• AT?ZH - hold timeout
• AT?BL - local to remote bitrate
• AT?BR - remote to local bitrate
• AT?E - rssi (dB respect 1V)
• AT?I - signal integrity
• AT?V - relative velocity
• AT?P - multipath structure
• AT&F - reset factory settings
• AT?PID - Protocol ID
• ATN - noise mode
• AT&E - signal strength measurement
• AT?NOISE - noise analysis {NOISE,<size>,<sample rate>,<gain>,<rssi>,<data>}
• ATA - back to listen state
• ATS - switch to deaf state
• AT?UP - estimate pos <sec>,<addr>,<x>,<y>,<z>
• AT?UPX - estimate compensated pose <sec>,<addr>,<E>,<N>,<U>

End of line:

• Ethernet: \n
• Serial: \r
• Answers: \r\n