Software Overview

CH342 USB Driver

The USB drivers for the CH342 USB-to-Serial converter can be downloaded from the manufacturer's website.

• Windows: Download Page for CH343SER.EXE
• MacOS: Download Page for CH341SER_MAC.ZIP

Linux

A USB driver is not required for Linux based operating systems.

Once the USB driver is installed, two virtual COM ports will be emulated, which can be used as standard COM ports to access UART interfaces of the IM19 attitude module.

• Channel A: UART1 of the IM19 attitude module
• Channel B: UART2 of the IM19 attitude module

Default Settings

The UART ports of the IM19 attitude module have the following default configuration:

• Baud Rate: 115200bps
• Data Bits: 8
• Parity: No
• Stop Bits: 1

tip

The breakout board also includes a digital switch, to isolate the CH342 and allow users to access these UART ports through their breakout pins. To activate the digital switch and utilize the UART ports through their breakout pins, users can close the CH342 EN jumper or pull theCH342 EN pin LOW. This disables the CH342 and disconnects the CH342 from the UART1 and UART2 ports of the IM19 attitude module, avoiding any bus contention issues.

AT-Commands

Below is a summary of the AT commands supported by the IM19 attitude module. The AT-commands are case-sensitive and need to be sent in a single string; therefore, when using a terminal emulator, it is recommended to utilize one that sends a string of characters instead of each character as they are typed.

AT Command	Description
AT+SYSTEM_RESET	System reset
AT+SAVE_ALL	Save the parameters
AT+UPDATE_APP	Update module firmware, see attachment for protocols
AT+UPDATE_BOOT	Update Bootloader，see attachment for protocols
AT+GNSS_CARD=	Set the GNSS RTK receiver type: HEMI, NOVTEL, UNICORE, OEM
AT+READ_PARA=SYSTEM/ALL	Read parameters (SYSTEM or ALL)
AT+LOAD_DEFAULT	Loads default parameters
AT+AUTO_FIX=ENABLE/DISABLE	Installation angle estimation in tilt measurement applications
AT+CLUB_VECTOR=X,Y,Z	Set the RTK pole vector to map the position to the end of the RTK pole (units in meters)
AT+NAVI_OUTPUT=UARTn,ON/OFF	Binary NAVI positioning output for UARTn
AT+NASC_OUTPUT=UARTn,ON/OFF	Ascii type NAVI positioning output for UARTn
AT+MEMS_OUTPUT=UARTn,ON/OFF	MEMS raw output for UARTn
AT+GNSS_OUTPUT=UARTn,ON/OFF	GNSS raw output for UARTn
AT+LEVER_ARM=X,Y,Z	Set the lever arm (units in meters)
AT+LEVER_ARM2=X,Y,Z	Set the lever arm, the input value will be automatically adjusted according to the estimated installation angle (units in meters)
AT+CHECK_SYNC	Query whether time is synchronized between MEMS and GNSS
AT+HIGH_RATE=ENABLE/DISABLE	High-rate mode setting
AT+ACTIVATE_KEY=KEY	Module activation
AT+ALIGN_VEL=1.0	Set the initial alignment speed threshold
AT+VERSION	Query the Firmware version
AT+GNSS_PORT=PHYSICAL_UARTn	Set the physical serial port on UARTn, for communicating with the GNSS RTK receiver. Save the Settings and restart to take effect
AT+WORK_MODE=X	Set the module working mode
AT+INSTALL_ANGLE=X,Y,Z	Set the module installation angle (units in degrees)
AT+THIS_PORT	Query the serial port number
AT+FILTER_STOP=ENABLE/DISABLE	Causes the filter to enter or exit stop mode
AT+LOOP_BACK=UARTn/NONE	UARTn enters or exits the loopback mode
AT+FILTER_RESET	Filter Reset
AT+CHECK_CRC=N	The IM19EE firmware CRC is calculated for checking the firmware, where N is the firmware size
AT+CORRECT_HOLDER=ENABLE/DISABLE	Turn on or off RTK pole length compensation
AT+OUTPUT_DISABLE=UARTxn	Disable the output of all messages over the serial port UARTn
AT+CALIBRATE_MODE2=STEP1/STEP2	Factory calibration command
AT+SET_CHECK_LEVEL=LEVELx	Set check level of calibration parameter
AT+FACTORY_PARA_x=X,Y,Z	Recovery factory calibration parameter
AT+SET_PPS_EDGE=RISING/FALLING	Set PPS edge, accept falling pps edge by default

info

For more information, please reference the IM19 integration manual.

Compatible Software

Below are some compatible software options for configuring the IM19 attitude module and receiving the tilt-compensated position in its proprietary message format.

PyGPSClient

As of v1.5.8, a widget has been added to the PyGPSClient application to configure and utilize the IM19 attitude module.

Resources

For additional information, users can refer to the following resources for the PyGPSClient software:

• GitHub Repository
• Installation Instructions
• PyPI Project

Installation

There are a variety of installation methods detailed in the GitHub repository's README.md file. However, we recommend utilizing the pip installation method.

Installation Commands

Depending on how Python is installed on the computer, one of the following commands should allow users to install the software.

•   python3 -m pip install pygpsclient

•   pip install pygpsclient

System Requirements

This installation method requires an internet connection. Additionally, users will also need administrative privileges (or root access sudo) for the installation.

Device Connection

Before users can connect to the IM19 breakout board, they will need to specify the settings of the UART port in PyGPSClient. Once configured, users can select the button and PyGPSClient will automatically attempt to connect to the GNSS module.

• Below, is a list of the default settings for UART ports of the IM19. These settings should be selected in the configuration menu.
• For the Serial Port, select the port associated with the attached UART interface.

Specify the settings for the UART port in PyGPSClient.

Default Settings

The UART ports of the IM19 attitude module have the following default configuration:

• Baud Rate: 115200bps
• Data Bits: 8
• Parity: No
• Stop Bits: 1

Arduino IDE

Most users may already be familiar with the Arduino IDE and its use. However, for those of you who have never heard the name Arduino before, feel free to check out the Arduino website. To get started with using the Arduino IDE, check out our tutorials below:

• What is an Arduino?
• Installing the Arduino IDE
• Installing an Arduino Library
• Installing Board Definitions in the Arduino IDE

IM19 IMU Arduino Library

The SparkFun IM19 Tilt Sensor Arduino Library can be installed from the library manager in the Arduino IDE by searching for:

SparkFun IM19 IMU Arduino Library

SparkFun IM19 IMU Arduino Library in the library manager of the Arduino IDE.

Manually Download the Arduino Library

For users who would like to manually download and install the library, the *.zip file can be accessed from the GitHub repository or downloaded by clicking the button below.

Download the Arduino Library