1ZERK(1) GPSD Documentation ZERK(1)
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6 zerk - All purpose GREIS fitting
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9 zerk [OPTIONS] [server[:port[:device]]]
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11 zerk -h
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13 zerk -V
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16 zerk is an all purpose GREIS (GNSS Receiver External Interface
17 Specification) fitting. If you do not have a Javad GPS that speaks the
18 GREIS protocol then you can stop reading now.
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20 This tool operates with your Javad GPS at a very low level. To
21 understand zerk you must first be familiar with your Javad GPS and the
22 documentation for the GREIS protocol. GREIS Guide
23 <https://www.javad.com/downloads/javadgnss/manuals/GREIS/GREIS_Reference_Guide.pdf>.
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25 zerk can decode common GREIS messages, poll the GPS status, enable and
26 disable GPS features, and send user-generated commands to the GPS. It
27 can read GREIS messages from a file. It can read and write directly
28 through a serial device, or through a running gpsd instance.
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30 zerk does not require root privileges, except maybe to access the
31 serial port in direct mode. It will run fine as root. Running under
32 sudo will cause loss of functionality.
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35 The program accepts the following options:
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37 -?, -h
38 Makes zerk print a usage message and exit.
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40 -c COMMAND
41 Send a text string to the GPS. Accepts one parameter, COMMAND, the
42 command string to send to the GPS. The string is sent verbatim,
43 except a newline is appended.
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45 -d OPTION
46 Disable an option in the GPS. Accepts one parameter, OPTION, the
47 option to disable. zerk will exit after the GPS acknowledges the
48 command, unless the -W is given.
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50 4HZ
51 Disable basic GREIS messages at 4Hz. The messages are: [RT],
52 [UO], [GT], [PV], [SG], [DP], [SI], [EL], [AZ], [EC], [SS], and
53 [ET]
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55 COMPASS
56 Disable use of the COMPASS (BeiDou) constellation.
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58 CONS
59 Disable use of all constellations.
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61 DEFMSG
62 Disable the default message set (/dev/msg) at 1Hz.
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64 GALILEO
65 Disable use of the GALILEO constellation.
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67 GLONASS
68 Disable use of the GLONASS constellation.
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70 GPS
71 Disable use of the GPS constellation.
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73 IPR
74 Disable all Integer Pseudo Range messages. These are [rx],
75 [rc], [r1], [r2], [r3], [r5], [rl].
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77 IRNSS
78 Disable use of the IRNSS constellation.
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80 NMEA
81 Disable basic NMEA 4.1e messages at 4Hz. The messages are GBS,
82 GGA, GSA, GST, GSV, RMC, VTG, and ZDA.
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84 QZSS
85 Disable use of the QZSS constellation.
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87 SBAS
88 Disable use of the SBAS constellation.
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90 SNR
91 Disable all SNR messages, except [EC]. The messages disabled
92 are: [E1], [E2], [E3], [E5], [El].
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94 -e OPTION
95 Enable an option in the GPS. Accepts one parameter, OPTION, the
96 option to enable. zerk will exit after the GPS acknowledges the
97 command, unless the -W is given. -e accepts the same OPTIONs as -d,
98 except the action is to enable the option.
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100 -f FILE
101 Connect to a file or device. Accepts one parameter, FILE, the file
102 or device to open. Files are opened read-only. Character devices
103 are opened read/write, unless the -r parameter is given. Requires
104 the pyserial module.
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106 -O OAF
107 Load an Option Authorization File (OAF) into the GPS. Accepts one
108 parameter, OAF, command file to read. The OAF is just a special
109 case of a '.jpo' (GREIS command file). -O will send any valid .jpo
110 file to the GPS.
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112 -p PRESET
113 Send a preset command the GPS. Accepts one parameter, PRESET, the
114 name of the command to send. zerk will exit after the GPS
115 acknowledges the command, unless the -W is given.
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117 COLDBOOT
118 Coldboot the GPS.
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120 CONS
121 Poll the enabled constellations.
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123 DM
124 Disable all periodic GREIS messages.
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126 ID
127 Poll the receiver ID.
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129 IPR
130 Poll all Integer Pseudo Range messages. These are [rx], [rc],
131 [r1], [r2], [r3], [r5], [rl].
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133 OAF
134 Poll all OAF options.
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136 RESET
137 Reset (reboot) the GPS.
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139 SERIAL
140 Poll receiver serial number.
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142 SNR
143 Poll all Signal to Noise Ratio (SNR) messages. [EC], [E1],
144 [E2], [E3], [E5], [El].
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146 VENDOR
147 Poll GPS vendor.
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149 VER
150 Poll GPS version.
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152 -r
153 Read only. Do not send anything to the GPS.
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155 -R RAW
156 Save all raw data from the GPS into the file RAW.
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158 -S SPEED
159 Configure the GPS serial speed to SPEED bps.
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161 -s SPEED
162 Set local serial port speed to SPEED bps. Default 115,200 bps.
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164 -V
165 Print zerk version and exit.
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167 -v VERBOSITY
168 Set verbosity level to VERBOSITY. Verbosity can be from 0 (very
169 quiet), to 4 (very noisy). Default 2.
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171 -W
172 Force waiting the entire wait time. No early exit for completion of
173 -d, -e or -p command.
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175 -w WAIT
176 Wait for WAIT seconds before exiting. Will exit early on command
177 completion of -d, -e or -p command, unless -W is given. Default 2.0
178 second.
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181 By default, clients collect data from the local gpsd daemon running on
182 localhost, using the default GPSD port 2947. The optional argument to
183 any client may override this behavior: [server[:port[:device]]]
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185 For further explanation, and examples, see the ARGUMENTS section in the
186 gps(1) man page
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189 Options can be placed in the ZERKOPTS environment variable. ZERKOPTS is
190 processed before the CLI options.
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193 Print current Javad serial port of GPS connected to local running gpsd:
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195 zerk -c "print,/cur/term"
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197 Decode raw log file:
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199 zerk -r -f greis-binary.log -v 2
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201 Change GPS port speed of device on /dev/ttyAMA0 to 230,400 bps:
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203 zerk -S 230400 -f /dev/ttyAMA0
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205 Watch entire GPS reset cycle:
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207 zerk -p RESET -v 2 -w 20 -W
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209 Poll SVs Status:
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211 zerk -W -w 2 -v 2 -c "out,,jps/{CS,ES,GS,Is,WS,QS}"
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213 Dump gpsd data from remote server:
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215 zerk -v 2 -w 5 server
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218 0
219 on success.
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221 1
222 on failure
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225 zerk is written to conform to the official Javad documentation for the
226 GREIS protocol. GREIS Guide
227 <https://www.javad.com/downloads/javadgnss/manuals/GREIS/GREIS_Reference_Guide.pdf>.
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229 gpsd(8)
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232 Project web site: https://gpsd.io/
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235 This file is Copyright 2013 by the GPSD project
236 SPDX-License-Identifier: BSD-2-clause
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239 Gary E. Miller
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243GPSD, Version 3.24 2021-09-20 ZERK(1)