NavCom Sapphire Rev.J - Manual (Page 444)

Sapphire Technical Reference Manual Rev. J
444
GNSS Software Loading Sequence
PC Receiver Navigation Software
1. Send
“[BOOTLOADA] PING, BOOT1,
LOADSERIALBOOT1”
or
“[BOOTLOADA] PING, BOOT2,
LOADSERIALBOOT2” 2. If GNSS board navigation software is running, it
decodes the command and reply with
“[BOOTLOADA]PING, NAV_PROG”.
Then it runs bootloader1 or bootloader2.
Bootloader1 and bootloader2 always run at default
baud rate 57600.
If GNSS board bootloader1 or bootloader2 is
already running, it NAK this message.
PC Receiver Bootloader1 or Bootloader2
3. If received [BOOTLOADA] reply, go to step 4.
If received NAK, continue to send the
[BOOTLOADA] command 2 more times, then go to
step 4.
4. Change PC baud rate to 57600 and send out
“[BOOTLOADB]NB_PingCmd” command. The
ping_target field should be consistent with the one
in [BOOTLOADA] command.
“[BOOTLOADB]NB_PingCmd” may need to be sent
out multiple times before a reply can be received
due to receiver transitioning between navigation
software and bootloader1 or bootloader2. It is
suggested this command being sent out at 5 Hz
rate until a reply is received.
Normally when bootloader1 starts, there is a 0.5
seconds window that it listens to the bootload
command. Sending this command at 5 Hz rate will
improve the chance of bootloader1 catching the
command within the window and help receiver
recovery in some cases.
5. Bootloader1 or bootloader2 runs, receives the
command and reply with
“[BOOTLOADB]NB_PingRep”.
6. If PC wants to change baud rate, send
“[BOOTLOADB]NB_BaudCmd”; otherwise, go to
step 11.
Note: This command shall not be sent under
certain circumstances. Refer to 0 for more details.
7. Send “[BOOTLOADB]NB_BaudRep” and start to
change receiver baud rate.
Table continued on next page…