Wayfinder Binary Interface Packet Protocol

Wayfinder binary interface is used for both sending commands to the DVL and to receive Output data from the DVL. Wayfinder binary interface communication interface uses a packet protocol.

1.1 Binary Commands and Responses

In Wayfinder, binary commands are unidirectional, only from Software to DVL (firmware). Binary commands responses are unidirectional as well. Responses can only go from DVL to software. For each binary command received by firmware, there is a response packet. Note that the messages are transmitted in little-endian format.

The commands for the Wayfinder DVL are defined in this table.

Commands

Get System

Get Setup

Set Setup

Software Trigger

Speed of Sound Input

Get Time

Set Time

1.2 Binary Command/Response Descriptions

1.2.1 Get System Command

Get system command is used to query system configuration. Command packet format is given below:

Field	Description	Range/Value	Data Type	Size (bytes)
SOP ID	Start of Packet	0xAA10 010F 0002	uint8	6
Command ID	Command ID	0x0308 0001 0000 81	uint8	7
Checksum	The sum of all the non-checksum bytes in the message, ignoring rollover	0x5901	uint16	2

1.2.2 Get System Response

Get system Response packet format is given below:

Field	Description	Range/Value	Data Type	Size (bytes)
SOP ID	Start of Packet	0xAA10 0198 0010	uint8	6
Response ID	Response ID	0x0491 0001 0000 81	uint8	7
Status - Major	Binary Command Status – Major value	Status Table - Major	uint8	1
Status- Minor	Binary Command Status – Minor value	Status Table - Minor	uint8	1
Payload Header	Payload Header	0x2210 8700 0000	uint8	6
Frequency	System Frequency (Hz)	614400 Hz	float32	4
Firmware	Major/Minor/Build/Patch		uint32	4
FPGA version	0xVVVV		uint32	4
Unique system ID	ID for feature generation (64-bit hex value)		uint64	8
XDCR Type	Piston, Phased array		uint8	1
Beam angle	Beam angle (Degrees)		float32	4
Vertical beam	Yes/No		uint8	1
Reserved			uint8 array	101
System Type	Identifies the product.	76 for Wayfinder	uint8	1
System Sub-Type	Identifies the product features. (e.g. 600 Khz, PA vs Piston, etc.)	Value is set to 0	uint8	1
Checksum	The sum of all the non-checksum bytes in the message, ignoring rollover		uint16	2

1.2.3 Get Setup Command

Get setup command is used to query deployment ping configuration. Command packet format is given below:

Field	Description	Range/Value	Data Type	Size (bytes)
SOP ID	Start of Packet	0xAA10 010F 0002	uint8	6
Command ID	Command ID	0x0308 0001 0000 85	uint8	7
Checksum	The sum of all the non-checksum bytes in the message, ignoring rollover	0x5D01	uint16	2

1.2.4 Get Setup Response

Get setup response packet format is given below:

Field	Description	Range/Value	Data Type	Size (bytes)
SOP ID	Start of Packet	0xAA10 0125 0010	uint8	6
Response ID	Response ID	0x041E 0001 0000 85	uint8	7
Status- Major	Binary Command Status – Major value	Status Table - Major	uint8	1
Status- Minor	Binary Command Status – Minor value	Status Table - Minor	uint8	1
Payload Header		0x2210 1400 0000	uint8	6
Software trigger	Software trigger Enable/Disable	1/0	uint8	1
Baud rate	Selection (9600/115200)	Enumeration (3/7) 3: 9600 7:115200	uint8	1
Speed of sound	SOS (m/sec)	1400-1600	float32	4
Max Track Range	Max depth (m)	0-≥250	float32	4
Reserved	Reserved field	N/A	float32	4
Checksum	The sum of all the non-checksum bytes in the message, ignoring rollover		uint16	2

1.2.5 Set Setup Command

Set setup command is used to configure deployment. Command packet format is given below:

Field	Description	Range/Value	Data Type	Size (bytes)
SOP ID	Start of Packet	0xAA10 0123 0002	uint8	6
Command ID	Command ID	0x031C 0002 0000 87	uint8	7
Structure ID	Command structure ID	0x2210 1400 0000	uint8	6
Software trigger	Software trigger Enable/Disable	1/0	uint8	1
Baud rate	Selection (9600/115200)	Enumeration (3/7) 3: 9600 7:115200	uint8	1
Speed of sound	SOS (m/sec)	1400-1600	float32	4
Max Track Range	Max depth (m)	0-≥250	float32	4
Reserved	Reserved field	N/A	float32	4
Checksum	The sum of all the non-checksum bytes in the message, ignoring rollover		uint16	2

1.2.6 Set Setup Response

Set setup response packet format is given below:

Field	Description	Range/Value	Data Type	Size (bytes)
SOP ID	Start of Packet	0xAA10 0111 0010	uint8	6
Response ID	Response ID	0x040A 0002 0000 87	uint8	7
Status- Major	Binary Command Status – Major value	Status Table - Major	uint8	1
Status- Minor	Binary Command Status – Minor value	Status Table - Minor	uint8	1
Checksum	The sum of all the non-checksum bytes in the message, ignoring rollover		uint16	2

1.2.7 Software Trigger Command

DVL pings once when this command is received if ‘Software trigger’ in Setup structure is enabled. Software Trigger command packet format is given below:

Field	Description	Range/Value	Data Type	Size (bytes)
SOP ID	Start of Packet	0xAA10 010F 0002	uint8	6
Command ID	Command ID	0x0308 0011 0000 00	uint8	7
Checksum	The sum of all the non-checksum bytes in the message, ignoring rollover	0xE800	uint16	2

1.2.8 Software Trigger Response

Software Trigger response packet format is given below:

Field	Description	Range/Value	Data Type	Size (bytes)
SOP ID	Start of Packet	0xAA10 0111 0010	uint8	6
Response ID	Response ID	0x040A 0011 0000 00	uint8	7
Status- Major	Binary Command Status – Major value	Status Table - Major	uint8	1
Status- Minor	Binary Command Status – Minor value	Status Table - Minor	uint8	1
Checksum	The sum of all the non-checksum bytes in the message, ignoring rollover		uint16	2

1.2.9 Speed of Sound Command

This command sets the speed of sound value for the next ping. Speed of Sound Input command packet format is given below:

Field	Description	Range/Value	Data Type	Size (bytes)
SOP ID	Start of Packet	0xAA10 0113 0002	uint8	6
Command ID	Command ID	0x030C 0003 0000 86	uint8	7
SOS	Speed of sound ( m/sec)	1400-1600	float32	4
Checksum	The sum of all the non-checksum bytes in the message, ignoring rollover		uint16	2

1.2.10 Speed of Sound Response

Speed of Sound Input response packet format is given below:

Field	Description	Range/Value	Data Type	Size (bytes)
SOP ID	Start of Packet	0xAA10 0111 0010	uint8	6
Response ID	Response ID	0x040A 0003 0000 86	uint8	7
Status- Major	Binary Command Status – Major value	Status Table - Major	uint8	1
Status- Minor	Binary Command Status – Minor value	Status Table - Minor	uint8	1
Checksum	The sum of all the non-checksum bytes in the message, ignoring rollover		uint16	2

1.2.11 Get Time Command

Get time command queries the current time of the DVL. Command packet format is given below:

Field	Description	Range/Value	Data Type	Size (bytes)
SOP ID	Start of Packet	0xAA10 010F 0002	uint8	6
Command ID	Command ID	0x0308 0001 0000 1D	uint8	7
Checksum	The sum of all the non-checksum bytes in the message, ignoring rollover	0xF500	uint16	2

1.2.12 Get Time Response

Get Time response packet format is given below:

Field	Description	Range/Value	Data Type	Size (bytes)
SOP ID	Start of Packet	0xAA10 011D 0010	uint8	6
Response ID	Response ID	0x0416 0001 0000 1D	uint8	7
Status- Major	Binary Command Status – Major value	Status Table - Major	uint8	1
Status- Minor	Binary Command Status – Minor value	Status Table - Minor	uint8	1
Payload Header	Payload Header	0x2310 0C00 0000	uint8	6
Year	RTC Year, last 2 digits		uint8	1
Month	RTC Month	1-12	uint8	1
Day	RTC Day	1-31	uint8	1
Hour	RTC Hour	0-23	uint8	1
Minute	RTC Minute	0-59	uint8	1
Second	RTC Second	0-59	uint8	1
Checksum	The sum of all the non-checksum bytes in the message, ignoring rollover		uint16	2

1.2.13 Set Time Command

Set time command can set a given time in the DVL. Command packet format is given below:

Field	Description	Range/Value	Data Type	Size (bytes)
SOP ID	Start of Packet	0xAA10 011B 0002	uint8	6
Command ID	Command ID	0x0314 0002 0000 1F	uint8	7
Structure ID	Command structure ID	0x2310 0C00 0000	uint8	6
Year	RTC Year, last 2 digits		uint8	1
Month	RTC Month	1-12	uint8	1
Day	RTC Day	1-31	uint8	1
Hour	RTC Hour	0-23	uint8	1
Minute	RTC Minute	0-59	uint8	1
Second	RTC Second	0-59	uint8	1
Checksum	The sum of all the non-checksum bytes in the message, ignoring rollover		uint16	2

1.2.14 Set Time Response

Set Time response packet format is given below:

Field	Description	Range/Value	Data Type	Size (bytes)
SOP ID	Start of Packet	0xAA10 0111 0010	uint8	6
Response ID	Response ID	0x040A 0002 0000 1F	uint8	7
Status- Major	Binary Command Status – Major value	Status Table - Major	uint8	1
Status- Minor	Binary Command Status – Minor value	Status Table - Minor	uint8	1
Checksum	The sum of all the non-checksum bytes in the message, ignoring rollover		uint16	2

1.2.15 Response Status

The response packet contains two status fields, Status- Major Byte and Status- Minor Byte as described below.

Status - Major Byte	Value	Description
BIN_RSP_SUCCESS	1	Command success
BIN_RSP_UNKNOWN_CMD	2	Unknown command
BIN_RSP_PARAM_INVALID	3	One or more parameters are invalid
BIN_RSP_CMD_EXEC_ERR	4	Error in command execution
BIN_RSP_CMD_SET_ERR	5	Error in setting value
BIN_RSP_CMD_GET_ERR	6	Error in getting value
BIN_RSP_NORUN_WITH_PING	7	Cannot run this command while pinging

Status – Minor Byte	Value	Description
BIN_RSP_INVALID_NONE	0	None of the parameters are invalid
BIN_RSP_INVALID_PARAM_SIZE	1	Expected size of parameters doesn't match the received size
BIN_RSP_INVALID_STRUCT_HDR	2	Invalid Structure Header
BIN_RSP_INVALID_BAUD	3	Invalid Baud rate
BIN_RSP_INVALID_TRIGGER	4	Invalid trigger enable/disable value
BIN_RSP_INVALID_SOS	5	Invalid speed of sound
BIN_RSP_INVALID_MAXDEPTH	6	Invalid max depth
BIN_RSP_INVALID_DATETIME	7	Invalid date/time
BIN_RSP_INVALID_PARAM_GENERIC	8	Invalid parameter

1.3 Binary Data Output

Wayfinder DVL outputs the data over the binary interface in the following packet format.

Field	Description	Units	Data Type	Size (bytes)
SOP ID	Start of Packet: 0xAA10 0174 0010		uint8	6
Data ID	0x056D 00AA 1169 0000 00		uint8	9
System ID/Type	System Type = 76 = 0x4C		uint8	1
System Sub-Type	Variant on the system type e.g. frequency or transducer type		uint8	1
FW version - Major	FW version - Major		uint8	1
FW version – Minor	FW version – Minor		uint8	1
FW version – Patch	FW version – Patch		uint8	1
FW version - Build	FW version - Build		uint8	1
Year	RTC Year, last 2 digits		uint8	1
Month	RTC Month		uint8	1
Day	RTC Day		uint8	1
Hour	RTC Hour		uint8	1
Minute	RTC Minute		uint8	1
Second	RTC Second		uint8	1
Milliseconds	RTC millisecond		uint16	2
Coordinate System		-	uint8	1
BT Vel X	Velocity of the DVL relative to the bottom X, Y, Z and Error components float NaN is used for bad velocities	m/s	float32	4
BT Vel Y		m/s	float32	4
BT Vel Z		m/s	float32	4
BT Vel E		m/s	float32	4
Range to Bottom 1	Range from the DVL to the bottom as determined by each Beam 1-4 float NaN is used for bad ranges or bad bottom detection	meters	float32	4
Range to Bottom 2		meters	float32	4
Range to Bottom 3		meters	float32	4
Range to Bottom 4		meters	float32	4
Mean range to bottom	Calculated mean range to bottom based on valid beams	meters	float32	4
Speed of Sound	The speed of sound used for the doppler processing	m/s	float32	4
BT status	Combines amplitude/correlation errors and three beam solution information	-	uint16	2
BIT	Built in test		uint16	2
Input Voltage		Volts	float32	4
Transmit Voltage		Volts	float32	4
Transmit Current		Amps	float32	4
System Serial No.	Serial number in the format - SSSSSS [6]	-	uint8	6
Reserved			uint8	20
Checksum - Data		-	uint16	2
Checksum	The sum of all the non-checksum bytes in the message, ignoring rollover		uint16	2

1.3.1 BIT Flags

The BIT Flags are used in the Binary Data Output to provide current system status. The flag are described below.

The BIT flags field (2 bytes) are organized as follows:

Byte 1: Total number of faults
Byte 2: Active fault – Active faults will rotate, and one fault is written in each output

Fault Name	BIT Error Code	Description
AB_NO_ERR	0x00	No Error
AB_POST_FAULT_DSC	0x01	Power on Self-Test DSC Failure
AB_POST_FAULT_DPFRAM	0x02	Power on Self-Test DP FRAM Failure
AB_POST_FAULT_SDRAM	0x03	Power On Self-Test SDRAM Failure
AB_POST_FAULT_DPEEPROM	0x04	Power On Self-Test DP EEPROM Failure
AB_POST_FAULT_RTC	0x05	Power On Self-Test RTC Failure
AB_FAULT_RTC	0x06	Pinging RTC Failure
AB_CLK_NOT_LOCKED	0x10
AB_FAULT_REG_FILE_SCK_ADC	0x11
AB_FAULT_REG_FILE_DSP	0x12
AB_FAULT_REG_FILE_ADC	0x13
AB_FAULT_RAW_RD_EMPTY	0x14
AB_FAULT_RAW_WR_FULL	0x15
AB_FAULT_FILTER	0x16
AB_FAULT_OX_RD_EMPTY	0x17
AB_FAULT_OS_WR_FULL	0x18
AB_FAULT_OS_FULL	0x19
AB_FAULT_IN_FIFO	0x1A
AB_FAULT_TX	0x1B
AB_QSPI_ERROR	0x1C
AB_QSPI_FIFO_RD_EMPTY	0x1D
AB_FAULT_FPGA_14	0x1E
AB_FAULT_FPGA_15	0x1F
AB_FAULT_VOLTAGE_OUT_OF_RANGE	0x20
AB_DP_FAULT_MEMORY	0xE5	Memory pointer error
AB_DP_FAULT_OOB	0xE6	Out-of-Bounds error
AB_DP_FAULT_START_PING	0xE7	Ping start error
AB_DP_FAULT_PING_WAIT_EVT_FAIL	0xE8	Ping Wait for Data Event failed
AB_DP_FAULT_PING_FIFO	0xE9	Ping FIFO failure
AB_DP_FAULT_BOTDET_FISH	0xEA	Bottom detect fish screen failed a beam
AB_DP_FAULT_BOTDET_BOUNCE	0xEB	Bottom detect 2nd bounce screen failed a beam
AB_DP_FAULT_BOTDET_FAIL	0xEC	Bottom detect failed to find >2 good beams.
AB_DP_FAULT_COR_FAIL	0xED	Beam failed correlation threshold test.
AB_DP_FAULT_VEL_OVR	0xEE	Using manual override velocities
AB_DP_FAULT_NVMEM_FAILURE	0xEF	Bottom ping nonvol memory error (bottom track disabled)
AB_DP_FAULT_SCHED_EVT_DESCR	0xF0	Scheduler - Bad Event descriptor
AB_DP_FAULT_SCHED_EVT_ERR	0xF1	Scheduler - Event error
AB_DP_FAULT_SCHED_TRIG_EVT_ERR	0xF2	Scheduler - trigger event create failure
AB_DP_FAULT_SCHED_PING_EVT_ERR	0xF3	Scheduler - ping event wait error
AB_DP_FAULT_SCHED_EVT_RESET_ERR	0xF4	Scheduler - Event reset error
AB_DP_FAULT_OUT_EVTWAIT_ERR	0xF5	Output Event wait error
AB_DP_FAULT_PING_EVT_ERR	0xF6	Ping event wait error
AB_DP_FAULT_TIMER	0xF7	Timer read error
AB_DP_FAULT_IQ_ABORT	0xF8	IQ data transfer aborted
AB_DP_FAULT_IQ_READ	0xF9	IQ data read error
AB_DP_FAULT_IQ_EVT_SET	0xFA	IQ data event set error
AB_DP_FAULT_FPGA_IND_FAULT	0xFB	FPGA indicates fault
AB_DP_FAULT_FIFO_EVT_WAIT	0xFC	FIFO event wait fault
AB_DP_FAULT_IQ_CKSUM_FAIL	0xFD	IQ data checksum failure
AB_DP_FAULT_WDREG_ERR	0xFE	Watchdog registration error
AB_DP_FAULT_WDRPT_ERR	0xFF	Watchdog reporting error
AB_MAX_FAULT_CODES	0x100	Count of current faults
AB_MAX_FAULT_CODE_ID