Console Commands¶

The RTK Base provides a command-line interface (CLI) for debugging, configuration, and advanced operations.

Hardware Connection¶

Required Equipment¶

USB FTDI/RS232 cable
Connection to DBG_UART port (5-pin header near Ethernet connector)

Connection Diagram¶

RTK Base Debug UART Connector

Pin Orientation: - Align the triangle marker with pin 1 (marked on the board) - Pin 1 is closest to the board edge

Software Settings¶

Configure your terminal software with these parameters:

Parameter	Value
Baudrate	115200 bps
Data bits	8
Stop bits	1
Parity	None
Flow control	None

Recommended Terminal Programs:

Linux: minicom, miniterm, picocom
Windows: PuTTY, Tera Term
macOS: screen, minicom

Command Reference¶

Type help in the console to see the full command list.

System Commands¶

help¶

Print the list of registered commands.

help

reboot¶

Reboot the RTK Base.

reboot

factory_reset¶

Perform factory reset (clears all saved configurations).

factory_reset

erase_nvs¶

Clean all saved configs from Non-Volatile Storage.

erase_nvs

Debug Commands¶

log_level¶

Change log level of components.

log_level [<components>] [<level>]

Parameters:

<components>: Component name ("*" for all)
<level>: Log level (0-5)
0: ESP_LOG_NONE
1: ESP_LOG_ERROR
2: ESP_LOG_WARN
3: ESP_LOG_INFO
4: ESP_LOG_DEBUG
5: ESP_LOG_VERBOSE

Example:

log_level * 3
log_level wifi 4

dbg¶

Debug commands.

dbg task                    # Show task information
dbg task prio ID PRIO       # Set task priority
dbg heap                    # Show heap status
dbg nb-conn [VAL]           # Get/set connection count
dbg nb-restart [VAL]        # Get/set restart count
dbg nb-ant [VAL]            # Get/set antenna failure count
dbg nb-reboot [VAL]         # Get/set reboot count

WiFi Commands¶

wifi¶

WiFi configuration and status.

wifi                        # Show WiFi config and status
wifi help                   # Show help message
wifi wap set SSID [PSWD]    # Set AP SSID and password
wifi sta set SSID [PSWD]    # Set STA SSID and password
wifi sta off                # Disable STA mode
wifi sta try                # Try reconnecting STA
wifi sta dhcp start         # Start DHCP client
wifi sta dhcp stop          # Stop DHCP client
wifi sta dhcp restart       # Restart DHCP client
wifi set (on|off)           # Enable/disable WiFi
wifi scan                   # Scan for networks

Network Commands¶

route¶

Select interface for default gateway.

route                       # Print current gateway
route e(*)                  # Use Ethernet (persistent)
route s(*)                  # Use STA (persistent)
route a(*)                  # Use AP (persistent)
route (n|-)                 # Revert to software default
route u                     # Re-evaluate gateway

netif¶

Network interface configuration.

netif                       # Print useful network config
netif dns <IP> [<IDX>]      # Set DNS server (index 0 or IDX)
netif <IFACE> ip <IP>       # Set IP on interface
netif <IFACE> gw <IP>       # Set gateway on interface
netif <IFACE> dns <IP> [<IDX>]  # Set DNS for interface
netif <IFACE>               # Print interface index
netif <IDX>                 # Print interface name

ZED GNSS Commands¶

get_zed_versions¶

Get ZED module firmware/hardware/software versions.

get_zed_versions

set_survey_param¶

Set survey-in time and accuracy parameters.

set_survey_param [<time>] [<accuracy>] [<timeout>]

Parameters: - <time>: Minimal survey-in time (seconds) - <accuracy>: Minimal survey-in accuracy (centimeters) - <timeout>: Maximal time allowed for survey-in (seconds)

Example:

set_survey_param 90 100 540

get_survey_param¶

Get current survey-in parameters.

get_survey_param

zed_set_rate_params¶

Set CFG-RATE parameters.

zed_set_rate_params [<measurement_period>] [<default_cycle>] [<startup_cycle>] [<svin_cycle>] [<operational_cycle>]

Parameters: - <measurement_period>: Measurement period (ms) - <default_cycle>: Zed nav default cycle - <startup_cycle>: Zed nav startup cycle - <svin_cycle>: Zed nav SVIN cycle - <operational_cycle>: Zed nav operational cycle

zed_get_rate_param¶

Get CFG-RATE parameters.

zed_get_rate_param

zed_poll_register¶

Send poll register request.

zed_poll_register [<class>] [<id>]

Parameters: - <class>: Register class - <id>: Register ID

zed_get_status_reg¶

Get ZED status register.

zed_get_status_reg

zed_get_svin_reg¶

Get ZED SVIN register.

zed_get_svin_reg

zed_get_sat_reg¶

Get ZED satellite register.

zed_get_sat_reg

zed_get_tmode3_reg¶

Get ZED CFG-TMODE3 register.

zed_get_tmode3_reg

zed_get_cfg_usb¶

Get ZED serial number.

zed_get_cfg_usb

zed_reset¶

Reset ZED module.

zed_reset

zed_start_survey¶

Start survey-in (also resets ZED).

zed_start_survey

Memory Commands¶

get_addr_snapshot¶

Show memory snapshot.

get_addr_snapshot <init_ptr> <nb_bytes>

Parameters: - <init_ptr>: Starting address - <nb_bytes>: Number of bytes to display

memwrite¶

Write value to memory.

memwrite <init_ptr> <nb_bytes> <value>

Parameters: - <init_ptr>: Starting address - <nb_bytes>: Number of bytes - <value>: Byte value to write

set_watchpoint¶

Set memory watchpoint.

set_watchpoint <watchpt_no> <init_ptr> <nb_bytes>

Parameters: - <watchpt_no>: Watchpoint index (0 or 1) - <init_ptr>: Starting address - <nb_bytes>: Number of bytes to watch

set_watchpoint_all_cores¶

Set watchpoint on all CPU cores.

set_watchpoint_all_cores <init_ptr> <nb_bytes>

Application Commands¶

app¶

Application debug commands.

app ubx trace [0|1]         # Enable/disable UBX tracing
app ubx hex [0|1]           # Enable/disable UBX hex output
app uart dump [0|1]         # Enable/disable UART dumping

MQTT Commands¶

mqtt¶

MQTT configuration and control.

mqtt                        # Print MQTT config and status
mqtt host <HOST>            # Set remote host
mqtt port <PORT>            # Set remote port
mqtt renew                  # Remove certificates and reconnect
mqtt start                  # Start MQTT client
mqtt stop                   # Stop MQTT client
mqtt restart                # Restart MQTT client

Serial Number Commands¶

get_serial_number¶

Display current serial number from protected NVS.

get_serial_number

set_serial_number¶

Set serial number in NVS.

set_serial_number [<new_serial_num>]

Hardware ID Commands¶

get_hardware_id¶

Get the hardware ID.

get_hardware_id

set_hardware_id¶

Set hardware ID in NVS.

set_hardware_id [<new_hardware_id>]

Note: If no ID is provided, clears the hardware ID from NVS.

RTCM Commands¶

enable_rtcm_sign¶

Enable/disable signed RTCM data.

enable_rtcm_sign [<sign_rtcm>]

Parameters: - <sign_rtcm>: 0 = unsigned, 1 = signed

Transfer Mode Commands¶

set_transfer_mode¶

Set the data transfer mode.

set_transfer_mode [<new_mode>]

Modes: - 1: All disabled - 2: MQTT enabled - 3: UDP enabled - 4: All enabled

Network Interface Commands¶

net_interface_enable¶

Enable/disable network interface.

net_interface_enable [<interface>] [<enable>]

Parameters: - <interface>: 0 = Ethernet, 1 = WiFi AP - <enable>: 0 = disable, 1 = enable

Firmware Update Commands¶

dl_and_update_firmware¶

Download and install firmware from URL.

dl_and_update_firmware [<url>]

Production Commands¶

start_hardware_test¶

Restart in hardware test mode.

start_hardware_test

start_production_test¶

Restart in production test mode.

start_production_test

Usage Examples¶

Basic Diagnostics¶

# Check system status
help

# View WiFi status
wifi

# Check ZED versions
get_zed_versions

# View network configuration
netif

Configuration¶

# Set WiFi AP
wifi wap set MyBase mypassword123

# Set WiFi STA
wifi sta set MyNetwork networkpass

# Configure MQTT
mqtt host mqtt.example.com
mqtt port 8883
mqtt restart

# Set survey parameters
set_survey_param 90 100 540

Debugging¶

# Enable verbose logging
log_level * 5

# View heap status
dbg heap

# Enable UBX tracing
app ubx trace 1

# View task information
dbg task

Tips¶

Auto-complete: Press Tab for command auto-completion
History: Use Up/Down arrows to recall previous commands
Help: Most commands support help subcommand for detailed info
Persistence: Configuration changes are saved to NVS automatically