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Operational Manual RGM-3000/REB-3000 Operational Manual Version 1.3 2002/5/29 This document contains information highly confidential to RoyalTek Company LTD (RoyalTek). It is provided for the sole purpose of the business discussions between supplier and RoyalTek and is covered under the terms of the applicable Non-Disclosure Agreements. Disclosure of this information to other parties is prohibited without the written consent of RoyalTek. Prepared by RoyalTek Company LTD. A Company of Royal Group 1071, Chung Cheng Rd., Suite 9F-1 Tao Yuan City, Taiwan, R.O.C. TEL: 886-3-3569666 FAX: 886-3-3560900 E-Mail: [email protected] http://www.royaltek.com RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual) RoyalTek GPS Module: RGM-3000/REB-3000101 Operational Manual INTRODUCTION ......................................................................................................................................... 1 PRODUCT FEATURES ................................................................................................................................ 1 PRODUCT APPLICATIONS ........................................................................................................................... 1 TECHNIQUE DESCRIPTION .......................................................................................................................... 1 PICTURE.................................................................................................................................................. 2 RGM-3000E....................................................................................................................................... 2 RGM-3000L ....................................................................................................................................... 2 RGM-3000M ...................................................................................................................................... 2 REB-3000 .......................................................................................................................................... 3 RGM-3000/REB-3000 SERIES SYSTEM BLOCK DIAGRAM .......................................................................... 3 TECHNIQUE SPECIFICATIONS ...................................................................................................................... 5 RGM-3000/REB-3000 Mechanical Layout ......................................................................................... 6 HARDWARE INTERFACE ............................................................................................................................. 9 ABSOLUTE MAXIMUM RATINGS .................................................................................................................. 10 CRITICAL DESIGN GUIDE AND DIAGRAM ...................................................................................................... 10 DESIGN LAYOUT DIAGRAM ...................................................................................................................... 11 NMEA V2.2 PROTOCOL......................................................................................................................... 12 GGA-Global Positioning System Fixed Data.................................................................................... 13 GLL-Geographic Position – Latitude/Longitude ............................................................................... 13 GSA-GNSS DOP and Active Satellites ............................................................................................ 13 GSV-GNSS Satellites in View .......................................................................................................... 14 RMC-Recommended Minimum Specific GNSS Data....................................................................... 14 VTG-Course Over Ground and Ground Speed................................................................................ 15 SIRF PROPRIETARY NMEA INPUT MESSAGES.......................................................................................... 15 SIRF NMEA Input Messages ........................................................................................................... 16 Set Serial Port.................................................................................................................................. 16 Set DGPS Port................................................................................................................................. 17 Query/Rate Control .......................................................................................................................... 17 LLA Navigation Initialization............................................................................................................. 18 Development Data On/Off................................................................................................................ 19 Calculating Checksums for NMEA Input .......................................................................................... 19 SIRF BINARY PROTOCOL ........................................................................................................................ 19 Initialize Data Source-Message I.D. 128.......................................................................................... 21 Switch To NMEA Protocol – Message I.D. 129 ................................................................................ 22 Set Almanac- Message I.D. 130 ...................................................................................................... 22 DGPS Source – Message I.D. 133 .................................................................................................. 23 1 RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual) Set Main Serial Port-Message I.D. 134............................................................................................ 24 Mode control – Message I.D .136 .................................................................................................... 24 DOP Mask Control – Message I.D. 137 ........................................................................................... 25 DGPS Control – Message I.D.138 ................................................................................................... 25 Elevation Mask – Message I.D.139.................................................................................................. 26 Power Mask – Message I.D.140 ...................................................................................................... 26 Editing Residual – Message I.D.141 ................................................................................................ 27 Steady State Detection – Message I.D.142 ..................................................................................... 27 Static Navigation – Message I.D.144 ............................................................................................... 27 Almanac – Message I.D.146............................................................................................................ 27 Ephemeris Message I.D.147............................................................................................................ 28 Switch To SiRF Protocol .................................................................................................................. 28 Switch Operating Modes - Message I.D. 150................................................................................... 28 Set Trickle Power Parameters - Message I.D. 151 .......................................................................... 28 Computation of Duty Cycle and On Time......................................................................................... 29 Push-to-Fix ...................................................................................................................................... 30 Poll Navigation Parameters - Message I.D. 152 .............................................................................. 30 Set UART Configuration - Message I.D. 165 ................................................................................... 30 Set Message Rate - Message I.D. 166 ............................................................................................ 31 Low Power Acquisition Parameters - Message I.D. 167 .................................................................. 32 OUTPUT MESSAGES FOR SIRF BINARY PROTOCOL ................................................................................... 32 Measured Tracker Data Out – Message I.D.4.................................................................................. 34 Raw Tracker Data Out – Message I.D.5 .......................................................................................... 35 Calculation of Pseudo-Range Measurements.................................................................................. 37 Response :Software Version String – Message I.D.6.................................................................... 37 Response :Clock Status Data – Message I.D.7 ............................................................................ 38 50BPS Data – Message I.D.8 .......................................................................................................... 38 CPU Throughput – Message I.D.9 ................................................................................................... 39 Command Acknowledgment – Message I.D.11 ............................................................................... 39 Command N Acknowledgment – Message I.D. 12........................................................................... 39 Visible List – Message I.D.13........................................................................................................... 40 Almanac Data – Message I.D.14 ..................................................................................................... 40 OkToSend - Message I.D. 18........................................................................................................... 40 Navigation Parameters (Response to Poll) – Message I.D. 19 ........................................................ 41 Navigation Library Measurement Data - Message I.D. 28 ............................................................... 42 Navigation Library DGPS Data - Message I.D. 29 ........................................................................... 42 Navigation Library SV State Data - Message I.D. 30 ....................................................................... 43 Navigation Library Initialization Data - Message I.D. 31................................................................... 43 2 RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual) RoyalTek Navigation Data – Message I.D.100................................................................................. 44 Set Ephemeris – Message I.D.254 .................................................................................................. 45 Development Data – Message I.D.255 ............................................................................................ 45 GPS Receiver User’s Tip ................................................................................................................. 46 3 RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual) WAAS demodulator RoyualTek GPS Module: Excellent sensitive for urban canyon and foliage environments. RGM-3000/REB-3000 Single satellite positioning. Dual multi path rejection. Operational Manual Data-log capability – At least 1 Mega-bits memory space will be implement in the product Introduction Product applications RGM-3000/REB-3000 is the third generation of RGM-3000/REB-3000 RoyalTek GPS Receiver. RGM-3000(E,M) Portable IA device for personal navigation/ consists of active antenna and GPS receiver. position commerce (P-Commerce) REB-3000(or RGM-3000L) consists of GPS Automotive applications receiver without active antenna. The GPS Personal positioning and navigation receiver is powered by SiRF Star II technology Marine navigation and RoyalTek proprietary navigation algorithm Timing application that providing you more stable navigation data. Extendable I/O capability – The miniature design is the best choice to be provide programming I/O function and embedded in a portable device like PDA, development tool kit for customer mobile phone, person locator and vehicle locator. It supports TricklePower function which Technique description can be enabled by external command for RGM-3000M, RGM-3000E power saving. The excellent sensitivity of General information. The RGM-3000 is a RGM-3000 gets the great performance when stamp size GPS receiver with an active going though the urban canyon and foliage. antenna. It provides the antenna power through RF cable. The default DC input of Product Features active antenna is 2.8 ~3.3V. Since it needs 3 satellites or more to do the first position fix. RGM-3000/REB-3000 OEM product development is fully The suitable view angle of the active antenna supported through applications is necessary. It will determine the first time engineering and WEB technique position update after getting good satellites forum. geometry. If the satellites are blocked, it may Small form factor. take time to determine the position. Caution: 12 parallel channels Please do not put any metal stuff on the 0.1 second re-acquisition time. antenna. It results in GPS receiver getting Enhanced algorithm for navigation stability. nothing. In urban canyon, the fast 0.1 second NMEA-0183 compliant protocol/custom re-acquisition capability can make it determine protocol. the position right away through the 1 RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual) cross-intersection. versatile antenna connectors: REB-3000,RGM-3000L 1) RGM-3000L: with SMA RF cable. General Information. This is a stamp size GPS 3) REB-3000: with HRS type of antenna receiver without active antenna. It provides the connector (male) which you can connect to external antenna power (2.8DCV ± 5%) versatile types of antenna. through RF cable. There are 2 models for Picture RGM-3000E 2 RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual) RGM-3000L The cable length can be adjusted by customer’s requirement (standard:10cm) SMA connector RGM-3000M 2 RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual) REB-3000 RGM-3000/REB-3000 Series System Block Diagram The RGM-3000/REB-3000 series consists of SiRF star II chipsets technology, RoyalTek LNA and proprietary software. The system is described as follows. RGM-3000M/RGM-3000E Patch ANT Flash Memory LNA SAW Filter SIRF GRF2I RS232 port (TTL) x 2 SiRF Programming I/O port x 7 GSP2e Control line x 4 3 RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual) RGM-3000L/REB-3000 GPS.receiver w/o patch ANT. Flash LNA SAW Filter Memory SIRF GRF2I SiRF GSP2e 4 RS232 port (TTL) x 2 Programming I/O port x 7 Control line x 4 RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual) supplied by RGM-3000/REB-3000 series. The full run (without trickle power) Technique specifications maximum current is less than 180mA. RGM-3000/REB-3000 series. Weight. 30g(RGM-3000),15g(REB-3000) Operational Characteristics. Environment. 12 Channels Temperature. L1, 1575.42MHz. Operating temperature -40 ~ +85 Degree C / A code, 1.023MHz chip rate. (Celsius). Snap start: 3 seconds, typical Storage temperature: -40 ~ +85 Degree Hot start: 8 seconds, typical (Celsius). Warm start: 40 seconds, typical Humidity ≦95% noncondensing. Cold start: 48 seconds, typical GPS Antenna Specification(RGM-3000E, Reacquisition:0.1 second, typical RGM-3000M) Navigation update rate: Once per second. Center Frequency: 1575.42±1.023MHz Datum: WGS-84. Bandwidth (-10dB return loss):9MHz min (The above specification is for standard Gain at Zenith: 3.0dBi Typ version software . The specification for ES Gain at 10° elevation :-1.0 dBi Typ version of software may vary.) Polarization :R.H.C.P Accuracy. Axial Ratio : 2.0dB max Position accuracy: 25m CEP without SA LNA Specification:(External ANT for Velocity accuracy:0.1 meters/second RGM-3000E ) without SA Center Frequency: 1575.42±1.023MHz DGPS Accuracy. Gain : 12dB Typ Position:1 to 5 m, typical Noise Figure : 1.8dB Typ Velocity: 0.05 meters/second, typical Out Band Attenuation : 7dB min for ±20MHz Dynamics. 20dB min for ±50MHz Altitude: 18000 meters (60000 feet) Max. 30dB min for ±100MHz Velocity: 515 meters / second Max. Acceleration: 4 g. , Max. Power Requirements. The input voltage is 3.3V±10%, ripple ≦ 200mV. The power of active antenna is 5 Output V.S.W.R 2.0dB max Voltage DC 2.8.0±0.5V Current 12mA max RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual) Mechanical Layout RGM-3000/REB-3000 Mechanical Layout RGM-3000E Pin 1 RGM-3000L 6 RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual) RGM-3000M REB-3000 7 RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual) Flexible Flat Circuit & Connectot 8 RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual) Hardware interface RGM-3000/REB-3000. Pin NO Name I/O 1 2 3 4 5 6 VCC VCC TXA RXA TXB RXB O I O I 7 TIMEMARK O 8 RESET I 9 10 BOOTSEL WAKEUP I I 11 VBAT 12 13 RESERVED GPIO3 14 GPIO5 15 GPIO6 16 GPIO7 17 GPIO10 18 GPIO13 19 GPIO15 20 21 22 GND GND GND Description Characteristic System Power DC 3.3V ± 10% System Power DC 3.3V ± 10% Navigation Data Output TTL Level;Voh≧2.4V,Vol≦0.4V;Ioh=Iol=2mA Serial Data Input TTL Level;Vih≧0.7*VCC;Vil≦0.3*VCC Reserved TTL Level;Voh≧2.4V,Vol≦0.4V;Ioh=Iol=2mA RTCM 104 Differential TTL Level;Vih≧0.7*VCC;Vil≦0.3*VCC GPS Input 1 Pulse per second time Vil≦0.2V,Pulse Width≧10ms mark Output System Reset , Active Vil≦0.2V,Pulse Width≧1ms Low Internal boot,Active High TTL Level;Vih≧0.7*VCC;Vil≦0.3*VCC Active low wakeup from TTL Level;Voh≧2.4V,Vol≦0.4V;Ioh=Iol=2mA the RTC External Backup Power 2.1V≦ Vbat ≦3.6V Input I/O General Purpose I/O Pin TTL Level; Output:Voh≧2.4V,Vol≦0.4V;Ioh=Iol=2mA Input:Vih≧0.7*VCC;Vil≦0.3*VCC I/O General Purpose I/O Pin TTL Level; Output:Voh≧2.4V,Vol≦0.4V;Ioh=Iol=2mA Input:Vih≧0.7*VCC;Vil≦0.3*VCC I/O General Purpose I/O Pin TTL Level; Output:Voh≧2.4V,Vol≦0.4V;Ioh=Iol=2mA Input:Vih≧0.7*VCC;Vil≦0.3*VCC I/O General Purpose I/O Pin TTL Level; Output:Voh≧2.4V,Vol≦0.4V;Ioh=Iol=2mA Input:Vih≧0.7*VCC;Vil≦0.3*VCC I/O General Purpose I/O Pin TTL Level; Output:Voh≧2.4V,Vol≦0.4V;Ioh=Iol=2mA Input:Vih≧0.7*VCC;Vil≦0.3*VCC I/O General Purpose I/O Pin TTL Level; Output:Voh≧2.4V,Vol≦0.4V;Ioh=Iol=2mA Input:Vih≧0.7*VCC;Vil≦0.3*VCC I/O General Purpose I/O Pin TTL Level; Output:Voh≧2.4V,Vol≦0.4V;Ioh=Iol=2mA Input:Vih≧0.7*VCC;Vil≦0.3*VCC System GND System GND System GND 9 RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual) VCC DC Power Input setup is NMEA Output, 4800bps, 8 data bits, This is the main power supply for the Engine no parity, 1 stop bit. The default sentences board. The power range is from 3.3V±10%, are GPGGA, GPGSA, GPRMC once per ripple ≤ 200mV. The maximum current of second and GPGSV once per 5 seconds. RGM-3000 is ≤ 200mA. Please refer to “software interface” for the GND detail protocol. GND provides the ground for the Engine RXA board. Connect all grounds. This is the main receiving channel and is used to receive software commands to the VBAT Engine board from user written software. This is the battery backup supply that Please refer to “software interface” for the powers the SRAM and RTC when main detail protocol. power is removed. The input voltage level is RXB from 2.1V~3.6V. Max current draw is 10 uA This is used for DGPS differential input . at 3.3volt. Without an external backup BOOTSEL battery or on board battery, engine board will Pull Bootsel pin high & reset , then it will get execute a cold start after every turn on. To to boot mode. achieve the faster start-up offered by a hot or warm start, either a backup battery must GPIO be connected or battery installed on board. This pin can be programmed to input or TXA output. For more application, please contact This is the main transmit channel and is Royaltek’s sales. used to output navigation and measurement data to user written software. The default Absolute maximum ratings Parameter Supply voltage Output current Symbol VCC Unit V mA Min. Value 2.97 Max. Value 3.63 200 Critical design guide and diagram 1. It is recommanded to attach GNDu plate (30*30MM) below RGM3000M module or the antenna module of RGM-3000E to increase the intensity of reception . Please refers to “Design Layout Diagram “ . 2. During design of integrated layout, please isolate high frequency noise source (power Switch,data or address signal lines ) from GPS antenna. 3. Please don’t place metal object above patch antenna. 10 RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual) Design Layout Diagram Recommanded Ground plate for RGM-3000M RGM-3000M with ground plate 11 RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual) Recommanded RGM-3000-A Antenna Ground Plate Connector tool (Option, not included in standard kit) It is used to remove or install FPC on connector. Software interface NMEA V2.2 Protocol GSA, GSV, RMC and VTG. It is the RS-232 interface:9600 bps, 8 bit NMEA Output Messages data, 1 stop bit and no parity. It supports the The Engine board outputs the following following NMEA-0183 messages:GGA, GLL, messages as shown in Table 1: Table 1 NMEA-0183 Output Messages NMEA Record GGA GLL GSA GSV RMC VTG Description Global positioning system fixed data Geographic position – latitude / longitude GNSS DOP and active satellites GNSS satellites in view Recommended minimum specific GNSS data Course over ground and ground speed 12 RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual) 3723.2475, N, 12158.3416, W, 1, GGA-Global Positioning System 07, 1.0, 9.0, M, , , ,0000*18 Fixed Data Table 2 contains the values of the following example: $GPGGA, 161229.487, Table 2 GGA Data Format Name Message ID UTC Position Latitude N/S Indicator Longitude E/W Indicator Position Fix Indicator Satellites Used HDOP MSL Altitude Units Geoid Separation Units Age of Diff. Corr. Diff. Ref. Station ID Checksum <CR><LF> Example $GPGGA 161229.487 3723.2475 N 12158.3416 W 1 07 1.0 9.0 M M Units meters meters meters meters second Description GGA protocol header hhmmss.sss ddmm.mmmm N=north or S=south dddmm.mmmm E=east or W=west See Table 2-1 Range 0 to 12 Horizontal Dilution of Precision Null fields when DGPS is not used 0000 *18 End of message termination Table 2-1 Position Fix Indicator Value 0 1 2 3 Description Fix not available or invalid GPS SPS Mode, fix valid Differential GPS, SPS Mode, fix valid GPS PPS Mode, fix valid example:$GPGLL, 3723.2475, N, GLL-Geographic Position – 12158.3416, W, 161229.487, A*2C Latitude/Longitude Table 3 contains the values of the following Table 3 GLL Data Format Name Message ID Latitude N/S Indicator Longitude E/W Indicator UTC Position Status Checksum <CR><LF> Example $GPGLL 3723.2475 N 12158.3416 W 161229.487 A *2C Units Description GLL protocol header ddmm.mmmm N=north or S=south Dddmm.mmmm E=east or W=west hhmmss.ss A=data valid or V=data not valid End of message termination example:$GPGSA, A, 3, 07, 02, 26, GSA-GNSS DOP and Active Satellites 27, 09, 04, 15, , , , , , 1.8,1.0,1.5*33 Table 4 contains the values of the following 13 RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual) Table 4 GSA Data Format Name Message ID Mode 1 Mode 2 Satellite Used Satellite Used …. Satellite Used PDOP HDOP VDOP Checksum <CR><LF> Example $GPGSA A 3 07 02 Units Description GSA protocol header See Table 4-2 See Table 4-1 Sv on Channel 1 Sv on Channel 2 …. Sv on Channel 12 Position Dilution of Precision Horizontal Dilution of Precision Vertical Dilution of Precision 1.8 1.0 1.5 *33 End of message termination Table 4-1 Mode 1 Value 1 2 3 Description Fix not available 2D 3D Table 4-2 Mode 2 Value M A Description Manual-forced to operate in 2D or 3D mode Automatic-allowed to automatically switch 2D/3D 256, 42, 27, 27, 138, GSV-GNSS Satellites in View 42*71$GPGSV, 2, 2, 07, 09, 23, Table 5 contains the values of the following 313, 42, 04, 19, 159, 41, 15, 12, example: $GPGSV, 2, 1, 07, 07, 79, 041, 42*41 048, 42, 02, 51, 062, 43, 26, 36, Table 5 GSV Data Format Name Message ID Number of Messages1 Messages Number1 Satellites in View Satellite ID Elevation Azimuth SNR (C/No) …. Satellite ID Elevation Azimuth SNR (C/No) Checksum <CR><LF> 1 Example $GPGSV 2 1 07 07 79 048 42 27 27 138 42 *71 Units degrees degrees dBHz degrees degrees dBHz Description GSV protocol header Range 1 to 3 Range 1 to 3 Channel 1(Range 1 to 32) Channel 1(Maximum 90) Channel 1(True, Range 0 to 359) Range 0 to 99, null when not tracking …. Channel 4(Range 1 to 32) Channel 4(Maximum 90) Channel 4(True, Range 0 to 359) Range 0 to 99, null when not tracking End of message termination Depending on the number of satellites Specific GNSS Data tracked multiple messages of GSV data may Table 6 contains the values of the following be required. example: $GPRMC, 161229.487, A, 3723.2475, N, 12158.3416, W, 0.13, RMC-Recommended Minimum 309.62, 120598, ,*10 14 RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual) Table 6 RMC Data Format Name Message ID UTC Position Status Latitude N/S Indicator Longitude E/W Indicator Speed Over Ground Course Over Ground Date Magnetic Variation Checksum <CR><LF> Example $GPRMC 161229.487 A 3723.2475 N 12158.3416 W 0.13 309.62 120598 Units Description RMC protocol header hhmmss.sss A=data valid or V=data not valid ddmm.mmmm N=north or S=south dddmm.mmmm E=east or W=west knots degrees True ddmmyy E=east or W=west degrees *10 End of message termination example:$GPVTG, 309.62, T, VTG-Course Over Ground and , M, 0.13, N, 0.2, K*6E Ground Speed Table 7 contains the values of the following Table 7 VTG Data Format Name Message ID Course Reference Course Reference Speed Units Speed Units Checksum <CR><LF> Example $GPVTG 309.62 T Units degrees degrees M 0.13 N 0.2 K *6E knots km/hr Description VTG protocol header Measured heading True Measured heading Magnetic Measured horizontal speed Knots Measured horizontal speed Kilometer per hour End of message termination Message I.D.129 ” on page 17 using a user program or using SiRFdemo.exe and SiRF Proprietary NMEA Input selecting Switch to NMEA Protocol from the Messages Action manual. If the receiver is in SiRF NMEA input messages allow you to control Binary mode, all the NMEA input messages the Evaluation Unit in NMEA protocol mode. are ignored. Once the receiver is put into The Evaluation Unit may be put into NMEA NMEA mode, the following messages may mode by sending the SiRF Binary protocol be used to command the module. message “ Switch To NMEA Protocol – Transport Message Start Sequence $PSRF<MID>1 1 Payload Data2 Checksum *CKSUM3 Message Identifier consists of three End Sequence <CR><LF>4 at MID 100. 2 numeric characters . Input messages begin 15 Message specific data. Refer to a specific RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual) message section for <data>…<data> not printable ASCII characters , they are definition omitted from the example strings, but must 3 CKSUM is a two-hex character checksum be sent to terminate the message and cause as defined in the NMEA specification . Use the receiver to process that input message. of checksums is required on all input messages. Note – All fields in all proprietary NMEA 4 messages are required, none are exceptional. Each message is terminated by using Carriage Return (CR) Line Feed (LF) which All NMEA messages are comma delimited is \r\n which is hex 0D 0A. Because \r\n are SIRF NMEA Input Messages Message Set Serial Port Navigation Initialization Set DGPS Port Query / Rate Control LLA Navigation Initialization Development Data On/Off Message Identifier (MID) 100 101 102 103 104 105 Description Set PORT A Parameters and protocol Parameters required for start using X/Y/Z Set PORT B parameters for DGPS input Query standard NMEA message and/or set output rate Parameters required for start using Lat/Lon/Alt1 Development Data messages On/Off Input coordinates must be WGS84. extensive command message set is available. When a valid message is received, Set Serial Port the parameters are stored in battery-backed This command message is used to set the SRAM and then the Evaluation Unit restarts protocol (SiRF Binary or NMEA) and/or the using the saved parameters. communication parameters (baud , data bits, Table 8 contains the input values for the stop bits, parity). Generally, this command is following example:Switch to SIRF Binary used to switch the module back to SiRF protocol at 9600,8,N,1 Binary protocol mode where a more $PSRF100,0,9600,8,1,0*0C Table 8 Set Serial Port Data Format Name Message ID Protocol Baud Data Bits Example $PSRF100 0 9600 8 Stop Bits Parity Checksum <CR><LF> 1 0 *0C 1 Units Description PSRF100 protocol header 0=SiRF Binary, 1=NMEA 4800,9600,19200,38400 8,71 0,1 0=None ,1=Odd,2=Even End of message termination SiRF protocol is only valid for 8data bits, 1 stop bit, and no parity. LLA Navigation Initialization module for a warm start, which provide This command is used to initialize the current position (in X, Y, Z coordinates), 16 RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual) clock offset , and time .This enables the Table 9 contains the input values for the Evaluation Unit to search for the correct following example:Switch to SiRF Binary satellite signals at the correct signal protocol at 9600,8,N,1 parameters . Correct initialization $PSRF101,-2686700,-4304200, 3851624, parameters enable the Evaluation Unit to 95000, 497260, 921, 12, 3*22 acquire signals quickly. Table 9 Navigation Initialization Data Format Name Message ID ECEF X ECEF Y ECEF Z CLK Offset Time Of Week Week No Channel Count Reset Cfh Checksum <CR><LF> Example $PSRF101 -2686700 -4304200 3851624 95000 Units Meters Meters Meters Hz 497260 921 12 3 *22 seconds Description PSRF101 protocol header X coordinate position Y coordinate position Z coordinate position Clock Offset of the Evaluation Unit1 GPS Time OF Week GPS Week Number Range 1 to 12 See Table 10 End of message termination Use 0 for last saved value if available . If this is unavailable, a default value of 96,000 will be used… Table 10 Reset Configuration Hex 0x01 0x02 0x04 Description Data Valid – Warm /Hot Starts=1 Clear Ephemeris – Warm Start=1 Clear Memory – Cold Start =1 PORT B are 9600 baud, 8 data bits, stop bit, Set DGPS Port and no parity. If a DGPS received , the This command is used to control Serial Port parameters are stored in battery – backed B which is an input – only serial port used to SRAM and then the receiver restarts using receive RTCM differential corrections. the saved parameters. Differential receivers may output corrections Table 11 contains the input values for the using different communication parameters. following example:Set DGPS Port to be The default communication parameters for 9600,8,N,1. $PSRF102,9600,8,1,0*3C Table 11 Set DGPS Port Data Format Name Message ID Baud Data Bits Stop Bits Parity Checksum <CR><LF> Example $PSRF102 9600 8 1 0 *3C Units Description PSRF102 protocol header 4800,9600,19200,38400 8,7 0,1 0==None, 1=Odd, 2=Even End of message termination be polled once, or setup for periodic output. Query/Rate Control Checksums may also be enabled or disabled This command is used to control the output depending on the needs of the receiving of standard NMEA messages GGA, GLL, program. NMEA message settings are saved GSA, RMC, and VTG. Using this command in battery-backed memory for each entry message, standard NMEA messages may when the message is accepted. 17 RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual) Table 12 Query/Rate Control Data $PSRF103,05,00,01,01*20 Format(See example 1.) 3.Disable VTG message 1.Quety the GGA message with checksum $PSRF103,05,00,00,01*21 enabled: $PSRF103,00,01,00,01*25 2.Enable VTG message for a 1 Hz constant output with checksum enabled: Table 12 Query/Rate Control Data Format(See example 1.) Name Message ID Message Mode Rate Cksum Enable Checksum <CR><LF> Example $PSRF103 00 01 00 01 *25 Units seconds Description PSRF102 protocol header See Table 13 0=Set Rate, 1=Query Output – off=0,max=255 0=Disable Checksum, 1=Enable Checksum End of message termination Table 13 Messages Value 0 1 2 3 4 5 Description GGA GLL GSA GSV RMC VTG parameters . Correct initialization LLA Navigation Initialization parameters enable the receiver to acquire This command is used to initialize the signals quickly. module for a warm start , by providing Table 14 contains the input values for the current position(in latitude, longitude, and following example: Start using known altitude coordinates), clock offset, and time. position and time $PSRF104, 37.3875111, This enables the receiver to search for the -121.97232, 0, 95000, 237759, 922, 12, correct satellite signals at the correct signal 3*3A Table 14 LLA Navigation Initialization Data Format Name Message ID Lat Lon Alt CLK Offset Time Of Week Week No Channel Count Reset Cfg Checksum <CR><LF> Example $PSRF104 37.3875111 -121.97232 0 95000 237759 922 12 3 *3A Units Description PSRF104 protocol header Latitude position (Range 90 to –90) Longitude position (Range 180 to –180) Altitude position Clock Offset of the Evaluation Unit1 Degrees Degrees Meters Hz Seconds GPS Time Of Week GPS Week Number Range 1 to 12 See Table 15 End of message termination Use 0 for last saved value if available. If this is unavailable, a default value of 96,000 will be used. Table 15 Reset Configuration Hex 0x01 0x02 Description Data Valid – Warm /Hot Starts=1 Clear Ephemeris – Warm Start=1 18 RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual) 0x04 Clear Memory – Cold Start =1 checksum of parameter out of specified Development Data On/Off range. Use this command to enable development Table 16 contains the input values for the data information if you can not get the following examples: commands accepted. Invalid commands generate debug information that enables the 1. Debug On $PSRF105,1*3E 2. Debug Off $PSRF 105,0*3F user to determine the source of the command rejection. Common reasons for input command rejection are invalid Table 16 Development Data On/Off Data Format Name Message ID Debug Checksum <CR><LF> Example $PSRF105 1 *3E Units Description PSRF105 protocol header 0=Off , 1= On End of message termination to include: Calculating Checksums for NMEA ● Reliable transport of messages Input ● Ease of implementation The Checksum is the 8-bit exclusive OR of all ● Efficient implementation the characters after $ and before *. (Not ● Independence from payload including $ and *) Protocol Layers Transport Message SiRF Binary Protocol The serial communication protocol is designed Start Sequence 0xA01, 0xA2 Payload Length Two-bytes (15-bits) Payload Up to 210-1 (<1023 ) Message Checksum Two-bytes (15-bits) EndSequence 0xB0, 0xB3 0xYY denotes a hexadecimal byte value. 0xA0 equals 160. two-byte (15- bit)message length and a Transport The transport layer of the protocol two-byte(15-bit) choice of a 15-bit values for encapsulates a GPS message in two start length and check sum are designed such characters and two stop characters. The that both message length and check sum values are chosen to be easily identifiable can not alias with either the stop of start and such that they are unlikely to occur code. frequently in the data. In addition, the Message Validation transport layer prefixes the message with a The validation layer is of part of the transport, 19 RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual) but operates independently. The byte count data neither the alignment nor the byte order refers to the payload byte length. Likewise, are defined as part of the transport although the check sum is a sum on the payload. SiRF payloads will use the big-endian order. Checksum Message Length The message length is transmitted high The check sum is transmitted high order order byte first followed by the low byte. byte first followed byte the low byte. This is the so-called big- endian order High Byte <0x7F> High Byte <0x7F Low Byte Any value Low Byte Any value The check sum is 15-bit checksum of the Even though the protocol has a maximum bytes in the payload data .The following length of (215 -1) bytes practical pseudo code defines the algorithm used. Let considerations require the SiRF GPS message to be the array of bytes to be sent module implementation to limit this value to by the transport. Let msgLen be the number a smaller number. Likewise, the SiRF of bytes in the message array to be receiving programs (e.g., SiRF demo) may transmitted . limit the actual size to something less than Index = first this maximum.. checkSum = 0 while index < msgLen Payload Data The payload data follows the message checkSum = checkSum +message[index] length. It contains the number of bytes 15 checkSum = checkSum AND(2 -1) specified by the message length. The payload data may contain any 8-bit value. Where multi-byte values are in the payload Input Messages for SiRF Binary Protocol Note – All input messages are sent in BINARY format Table 19 SiRF Messages – Input Message List Hex 0 x 80 0 x 81 0 x 82 0 x 84 0x 85 0x 86 0 x 88 0 x 89 0 x 8A 0 x 8B 0 x 8C 0 x 8D 0 x 8E 0 x 8F 0 x 90 0 x 91 ASCII 128 129 130 132 133 134 136 137 138 139 140 141 142 143 144 145 Name Initialize Data Source Switch to NMEA Protocol Set Almanac Software Version DGPS Source Control Set Main Serial Port Mode Control DOP Mask Control DGPS Mode Elevation Mask Power Mask Editing Residual Steady-State Detection Static Navigation Clock Status Set DGPS Serial Port 20 RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual) 0 x 92 0 x 93 0 x 95 0 x 96 0 x 97 0 x 98 0x A5 0x A6 0x A7 146 147 149 150 151 152 165 166 167 Almanac Ephemeris Set Ephemeris Switch Operating Mode Set Trickle Power Parameters Navigation Parameters (Poll) Change UART Configuration Set Message Rate Low Power Acquisition Parameters Number(924),and Channels(12). Raw Initialize Data Source-Message I.D. track data Debug data enabled. 128 Example: Table 18 contains the input values for the A0A20019-Start Sequence and Payload following example:Warm start the receiver Length with the following initialization data:ECEF 80FFD700F9FFBE5266003AC57A000124 WYZ (-2686727 m,-4304282 m,3851642 F80083S600039C0C33- Payload m),Clock Offset (75,000 Hz),Time of 0A91B0B3-Message Checksum and End Week(86,400 s),Week Number(924),Week Sequence Table 20 Initialize Data Source Name Message ID ECEF X ECEF Y ECEF Z Clock Offset Time of Week Week Number Channels Reset Config. Binary(Hex) Scale Example 80 FFD700F9 FFBE5266 003AC57A 000124F8 *100 0083D600 039C 0C 33 Bytes 1 4 4 4 4 4 2 1 1 Units Description ASCII 128 meters meters meters Hz seconds Range 1-12 See Table 19 Payload Length: 25 bytes Table 21 Initialize Data Source Bit 0 1 2 3 4 5 6 7 Description Data valid flag-set warm/hot start Clear ephemeris-set warm start Clear memory-set cold start Factory Reset Enable Nav Lib data (YES=1,NO=0) Enable debug data for SiRF binary protocol(YES=1,NO=0) Enable debug data for NMEA protocol(YES=1,NO=0) Reserved (must be 0) NL Initialize Data (MID 31). All messages are Note - If Nav Lib data is ENABLED then the sent at 1 Hz and the baud rate will be resulting messages are enabled. Clock automatically set to 57600. Status (MID 7), 50 BPS (MID 8), Raw DGPS (17), NL Measurement Data (MID 28), GPS Data (MID 29), SV State Data (MID 30), and 21 RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual) Example: Switch To NMEA – Message I.D. 129 Table 20 contains the input values for the A0A20018 – Start Sequence and Payload following example: Length Request the following NMEA data at 9600 8102010100010501050100010001000100010 baud: 001000112C0 – Payload GGA – ON at 1 sec , GLL – 0sec , GSA – ON 016AB0B3 – Message Checksum and End at 5 sec GSV – ON at 5 sec , RMC – 0 sec , Sequence VTG – 0 sec Table 22 Switch To NMEA Protocol Name Message ID Mode GGA Message1 Checksum2 GLL Message Checksum GSA Message Checksum GSV Message Checksum RMC Message Checksum VTG Message Checksum MSS Message Checksum Unused Field Unused Field Unused Field Unused Field Unused Field Unused Field Baud Rate Bytes 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 Binary(Hex) Scale Example 81 02 01 01 00 01 05 01 05 01 00 01 00 01 00 01 00 01 00 01 00 01 12C0 Units Description ASCII 129 1/s 1/s 1/s 1/s 1/s 1/s Recommended value Recommended value Recommended value Recommended value Recommended value Recommended value Recommended value Recommended value 38400,19200,9600,4800,2400 Payload Length: 24bytes (1) A value of 0x00 implies NOT to send message (recommended). message, otherwise data is sent at 1 Set Almanac- Message I.D. 130 message every X seconds requested This command enables the user to upload (i.e., to request a message to be sent an almanac to the Evaluation Unit every 5 seconds, request the message Note – This feature is not documented in using a value of 0x05.)Maximum rate is this manual. For information on 1/255s. (2) implementation contact SiRF Technology A value of 0x00 implies the checksum Inc. is NOT calculated OR transmitted with Software Version – Message I.D. 132 the message (not recommended ) .A Table 21 contains the input values for the value of 0x01 will have a checksum following example:Poll the software calculated and transmitted as part of the version 22 RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual) Example: 8400 – Payload A0A20002 – Start Sequence and Payload 0084B0B3 – Message Checksum and End Length Sequence Table 23 Software Version Name Message ID TBD Bytes 1 1 Binary(Hex) Scale Example 84 00 Units Description ASCII 132 Payload Length: 2 bytes Example 1: Set the DGPS source to External DGPS Source – Message I.D. 133 RTCM Data This command allows the user to select the A0A20007—Start Sequence and Payload Length source for DGPS corrections. Options available 85020000000000—Payload are: 0087B0B3—Checksum and End Sequence External RTCM Data (any serial port) WAAS (subject to WAAS satellite availability) Internal DGPS beacon receiver Table B-6 DGPS Source Selection (Example 1) Name Message ID DGPS Source Internal Beacon Bytes 1 1 4 Internal Beacon Bit Rate 1 Binary(Hex) Scale Example 85 00 00000000 0 Units Hz BPS Description Message identifier See Table B-8. DGPS Source Selections See Table B-9. Internal Beacon Search setting. See Table B-9. Internal Beacon Search setting. Payload: 7Bytes. Example2: Set the DGPS source to Internal A0A20007—Start Sequence and Payload Length DGPS Beacon Receiver 85030004BAF0C802—Payload Search Frequency 310000, Bit Rate 200 02FEB0B3—Checksum and End Sequence Table B-7 DGPS Source Selection (Example 2) Name Message ID DGPS Source Internal Beacon Bytes 1 1 4 Internal Beacon Bit Rate 1 Binary(Hex) Scale Example 85 03 0004BAF0 C8 Units Hz BPS Description Message identifier See Table B-8. DGPS Source Selections See Table B-9. Internal Beacon Search setting. See Table B-9. Internal Beacon Search setting. Payload: 7Bytes. Table B- 8 DGPS Source Selections DGPS Source None Hex 00 Decim al 0 Description DGPS corrections will not be used (even if available). 23 RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual) 01 02 03 WAAS External RTCM Data Internal DGPS Beacon Receiver 1 2 3 Uses WAAS Satellite (subject to availability). External RTCM input source (i.e., Coast Guard Beacon). Internal DGPS beacon receiver. Table B- 9 Internal Beacon Search Settings Search Type Auto Scan Frequen cy 0 Bit Rate Description 0 0 Non zero Non Zero Non Zero 0 Auto scanning of all frequencies and bit rates are performed. Auto scanning of all frequencies and specified bit rate are performed. Auto scanning of all bit rates and specified frequency are performed. Only the specified frequency and bit rate search are performed. Full Frequency Scan Full Bit Rate Scan Specific Search Non Zero Length Set Main Serial Port-Message I.D. 134 860000258008010000—Payload Table B-10 contains the input values for the 0134B0B3—Message Checksum and End following example: Sequence Set Main Serial port to 9600,n,8,1. Example: A0A20009—Start Sequence and Payload Table B- 10 Set Main Serial Port Name Message ID Baud Data Bits Stop Bit Parity Pad Bytes 1 4 1 1 1 1 Binary(Hex) Scale Example 86 00002580 08 01 00 00 Units Description Message identifier 38400,19200,9600,4800,2400,1200 8,7 0,1 None=0, Odd=1, Even=2 Reserved Payload Length: 9 bytes Example: Mode control – Message I.D .136 A0A2000W – Start Sequence and Payload Table 24 contains the input values for the Length following example: 3D Mode = Always , Alt 88010101010100000002140501 – Constraining = Yes , Degraded Mode – Payload clock then direction , TBD = 1 , DR Mode 00A9B0B3 – Message Checksum and = Yes , Altitude = 0, Alt Hold Mode = Auto, End Sequence Alt Source = Last Computed , Coast Time Out = 20, Degraded Time Out = 5, DR Time Out = 2, Track Smoothing = Yes Table 24 Mode Control 24 RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual) Name Message ID 3D Mode Alt Constraint Degraded Mode TBD DR Mode Altitude Alt Hold Mode Alt Source Coast Time Out Degraded Time Out Dr Time Out Track Smoothing Bytes 1 1 1 1 1 1 2 1 1 1 1 Binary(Hex) Units Description Scale Example 88 ASCII 136 01 1 (always true=1) 01 YES = 1,NO = 0 01 See Table C-7 01 Reserved 01 YES = 1,NO = 0 0000 Meters Range –1,000 to 10,000 00 Auto = 0,Always=1,Disable=2 02 Last Computed=0,Fixed to=1 14 Seconds 0 to 120 05 Seconds 0 to 120 1 1 01 01 Seconds 0 to 120 YES = 1,NO = 0 Payload Length:14 bytes Table 25 Degraded Mode Byte Value Byte Value 0 1 2 3 4 Description Use Direction then Clock Hold Use Clock then Direction Hold Direction(Curb)Hold Only Clock(Time)Hold Only Disable Degraded Modes Example: DOP Mask Control – Message I.D. 137 A0A20005 – Start Sequence and Payload Table 26 contains the input values for the Length following example: 8900080808 – Payload Auto Pdop/Hdop, Gdop = 00A1B0B3 – Message Checksum and 8(default),Pdop=8,Hdop=8 End Sequence Table 26 DOP Mask Control Name Message ID DOP Selection GDOP Value PDOP Value HDOP Value Bytes 1 1 1 1 1 Binary(Hex) Scale Example 88 00 08 08 08 Units Description ASCII 137 See Table 25 Range 1 to 50 Range 1 to 50 Range 1 to 50 Payload Length: 5 bytes Table 27 DOP Selection Byte Value 0 1 2 3 4 Description Auto PDOP/HDOP PDOP HDOP GDOP Do Not Use Set DGPS to exclusive with a time out of DGPS Control – Message I.D.138 30 seconds. Table 28 contains the input values for the Example: following example: 25 RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual) A0A20003 – Start Sequence and Payload End Sequence Length 8A011E – Payload 00A9B0B3 – Message Checksum and Table 28 DGPS Control Name Message ID DGPS Selection DGPS Time Out Binary(Hex) Scale Example 8A 01 1E Bytes 1 1 1 Units Description ASCII 138 See Table 27 Range 1 to 120 Seconds Payload Length:3 bytes Table 29 DGPS Selection Byte Value 0 1 2 3 Description Auto Exclusive Never Mixed (not recommended) Example: Elevation Mask – Message I.D.139 A0A20005 – Start Sequence and Payload Table 30 contains the input values for the Length following example: 8B0032009B – Payload Set Navigation Mask to 15.5 degrees 0269B0B3 – Message Checksum and End (Tracking Mask is defaulted to 5 degrees). Sequence Table 30 Elevation Mask Name Message ID Tracking Mask Navigation Mask Bytes 1 2 2 Binary(Hex) Scale Example 8B *10 0032 *10 009B Units degrees degrees Description ASCII 139 Not currently used Range –20.0 to 90.0 Payload Length:5 bytes Length Power Mask – Message I.D.140 8C1C21 – Payload Table 31 contains the input values for the 00C9B0B3 – Message Checksum and following example: Navigation mask to End Sequence 33dBHz (tracking default value of 28) Example: A0A20003 – Start Sequence and Payload Table 31 Power Mask Name Message ID Tracking Mask Navigation Mask Bytes 1 1 1 Binary(Hex) Scale Example 8C 1C 21 Payload Length:3 bytes 26 Units dBHz dBHz Description ASCII 140 Not currently implemented Range –28 to 50 RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual) Editing Residual – Message I.D.141 Note – Not implemented currently Example: Steady State Detection – Message A0A20002 – Start Sequence and Payload I.D.142 Length Table 32 contains the input values for the 8E0F – Payload following example: Set Stead State 009DB0B3 – Message Checksum and Threshold to 1.5 m/sec2 End Sequence Table 32 Steady Detection Name Message ID Threshold Bytes 1 1 Binary(Hex) Scale Example 8E 0F Units Description ASCII 142 Range 0 to 20 M /sec2 Payload: 2 bytes Static Navigation – Message I.D.144 Table 33 Steady State Detection Name Message ID TBD Bytes 1 1 Binary(Hex) Scale Example 90 00 Units Description ASCII 144 Reserved Payload Length:2 bytes A0A20009-Start Sequence and Payload Set DGPS Serial Port – Message I.D 145 Table 34 contains the input values for the Length following example:Set DGPS Serial port to 910000258008010000 – Payload 9600.n,8,1. 013FB0B3 – Message Checksum and End Example: Sequence Table 34 Set DGPS Serial Port Name Message ID Baud Data Bits Stop Bit Parity Pad Bytes 1 4 Binary(Hex) Scale Example 91 00002580 1 1 1 1 Units 08 01 00 00 Description ASCII 145 38400,19200,9600,4800,2400, 1200 8,7 0,1 None=0,Odd=1,Even=2 Reserved Payload Length: 9 bytes A0A20002 – Start Sequence and Payload Almanac – Message I.D.146 Length Table 35 contains the input values for the 9200 – Payload following example:Poll for the Almanac. 0092B0B3 – Message Checksum and End Example: Sequence Table 35 Almanac 27 RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual) Name Message ID TBD Binary(Hex) Scale Example 92 00 Bytes 1 1 Units Description ASCII 146 Reserved Payload Length: 2 bytes Length Ephemeris Message I.D.147 930000 – Payload Table 36 contains the input values for the 0092B0B3 – Message Checksum and End following example:Poll for Ephemeris Data Sequence for all satellites. Example: A0A20003 – Start Sequence and Payload Table 36 Almanac Name Message ID Sv I.D.1 TBD Binary(Hex) Scale Example 93 00 00 Bytes 1 1 1 Units Description ASCII 147 Range 0 to 32 Reserved Payload Length:3 bytes A value of 0 requests all available Switch Operating Modes - Message ephemeris records, otherwise the I.D. 150 ephemeris of the Sv I.D. is requested. Table 37 contains the input values for the following example: Switch To SiRF Protocol Note – To switch to SiRF protocol you Sets the receiver to track a single satellite must send a SiRF NMEA message to on all channels. revert to SiRF binary mode. (See page 9, ” Example: NMEA Input Messages “ for more A0A20007—Start Sequence and Payload information) Length 961E510006001E—Payload 0129B0B3—Message Checksum and End Sequence Table 37 Switch Operating Mode I.D. 150 Name Message ID Mode SvID Period Bytes 1 2 2 2 Binary(Hex) Scale Example 96 1E51 0006 001E Units seconds Description ASCII 150 1E51=test, 0=nomal Satellite to Track Duration of Track Payload length: 7 bytes Message I.D. 151 Set Trickle Power Parameters - Table 38 contains the input values for the 28 RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual) following example: Sets the receiver into Length low power Modes. Example: Set receiver 97000000C8000000C8—Payload into Trickle Power at 1 hz update and 200 0227B0B3—Message Checksum and End ms On Time. Sequence A0A20009—Start Sequence and Payload Table 38 Set Trickle Power Parameters I.D. 151 Binary(Hex) Name Bytes Scale Example Message ID 1 97 Push To FixMode 2 0000 Duty Cycle 2 *10 00C8 Milli Seconds On 4 000000C8 Time Units Description ASCII 151 ON=1, OFF=0 % Time on Range 200 ~ 500 ms % ms Payload Length: 9bytes. Time, use the following formula: Computation of Duty Cycle and On Off Time = (On Time - (Duty Cycle * On Time. Time)) / Duty Cycle The Duty Cycle is the desired time to be Update rate = Off Time + On Time spent tracking.The On Time is the duration Note – On Time inputs of > 900 ms will of each tracking period (range is 200 - 900 default to 1000 ms ms). To calculate the TricklePower update Following are some examples of rate as a function of Duty cycle and On selections: Table 39 Example of selections for Trickle Power Mode of Operation Mode Continuous Trickle Power Trickle Power Trickle Power Trickle power On Time (ms) 1000 200 200 300 500 Duty Cycle (%) 100 20 10 10 5 Update rate (1/Hz) 1 1 2 3 10 See Table 40 for supported/unsupported settings. Table 40 Trickle Power Mode Settings On Time (ms) 200 300 400 500 600 700 800 900 1 2 3 Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y N Y Y Y Y Y Y Y Update Rate (second) 4 5 N Y Y Y Y Y Y Y Y = Yes (Mode supported) N = No (Mode NOT supported) 29 N Y Y Y Y Y Y Y 6 7 8 N Y Y Y Y Y Y Y N N Y Y Y Y Y Y N N Y Y Y Y Y Y RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual) approximately On Period/1800, or about Push-to-Fix 1%. Push-to-Fix keeps the ephemeris for In this mode the receiver will turn on every all visible satellites up to date so 30 minutes to perform a system update position/velocity fixes can generally be consisting of a RTC calibration and computed within SnapStart times (when satellite ephemeris data collection if requested by the user) on the order of 3 required (i.e., a new satellite has become seconds. visible) as well as all software tasks to support SnapStart in the event of an NMI. Ephemeris collection time in general this Poll Navigation Parameters - takes 18 to 30 seconds. If ephemeris data Message I.D. 152 is not required then the system will Table C-20 contains the input values for re-calibrate and shut down. In either case, the following example: the amount of time the receiver remains Example: Poll receiver for current off will be in proportion to how long it navigation parameters. stayed on: A0A20002—Start Sequence and Payload Off period = (On Period*(1-Duty Cycle) / Length Duty Cycle) 9800—Payload Off Period is limited to 30 minutes. The 0098B0B3—Message Checksum and End duty cycle will not be less than Sequence Table C-20 Poll Receiver for Navigation Parameters Name Message ID Reserved Bytes 1 1 Binary(Hex) Scale Example 98 00 Units Description ASCII 152 Payload length: 2 bytes A0A20031—Start Sequence and Payload Set UART Configuration - Message Length I.D. 165 A5000101000025800801000000010000000 Table B-28 contains the input values for the 0E1000801000000FF050500000000000 following example: 0000000FF0505000000000000000000—Pa Example: Set port 0 to NMEA with 9600 baud, yload 8 data bits, 1 stop bit, no parity. Set 0452B0B3—Message Checksum and End port 1 to SiRF binary with 57600 baud, 8 Sequence data bits, 1 stop bit, no parity. Do not configure ports 2 and 3. Example: 30 RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual) Table B- 28 Set UART Configuration Name Message ID Port In Protocol1 Out Protocol Baud Rate2 Data bits3 Stop bits4 Parity5 Reserved Reserved Port In Protocol Out Protocol Baud Rate Data bits Stop bits Parity Reserved Reserved Port In Protocol Out Protocol Baud Rate Data bits Stop bits Parity Reserved Reserved Port In Protocol Out Protocol Baud Rate Data bits Stop bits Parity Reserved Reserved Bytes 1 1 1 1 4 1 1 1 1 1 1 1 1 4 1 1 1 1 1 1 1 1 4 1 1 1 1 1 1 1 1 4 1 1 1 1 1 Binary(Hex) Scale Example A5 00 01 01 00002580 08 01 00 00 00 00 01 01 0000E100 08 01 00 00 00 00 01 01 00000000 08 01 00 00 00 00 01 01 00000000 08 01 00 00 00 Units Description Decimal 165 For UART 0 For UART 0 For UART 0 (Set to In protocol) For UART 0 For UART 0 For UART 0 For UART 0 For UART 0 For UART 0 For UART 1 For UART 1 For UART 1 For UART 1 For UART 1 For UART 1 For UART 1 For UART 1 For UART 1 For UART 1 For UART 2 For UART 2 For UART 2 For UART 2 For UART 2 For UART 2 For UART 2 For UART 2 For UART 3 For UART 3 For UART 3 For UART 3 For UART 3 For UART 3 For UART 3 For UART 3 For UART 3 Payload Length: 49 bytes 1. 0 = SiRF Binary, 1 = NMEA, 2 = ASCII, 3 = RTCM, 4 = User1, 5 = No Protocol. 2. Valid values are 1200, 2400, 4800, 9600, 19200, 38400, and 57600. 3. Valid values are 7 and 8. 4. Valid values are 1 and 2. 5. 0 = None, 1 = Odd, 2 = Even. Set Message Rate - Message I.D. 166 Table B-29 contains the input values for the following example: Set message ID 2 to output every 5 seconds starting immediately. Example: A0A20008—Start Sequence and Payload Length A601020500000000—Payload 31 RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual) 00AEB0B3—Message Checksum and End Sequence Table B- 29 Set Message Rate Name Message ID Send Now1 MID to set Update Rate TBD TBD TBD TBD Bytes 1 1 1 1 1 1 1 1 Binary(Hex) Scale Example A6 01 02 05 00 00 00 00 Units sec Description Decimal 166 Poll message Range= 1 - 30 Reserved Reserved Reserved Reserved Payload Length: 8 bytes 1. 0 = No, 1 = Yes, if no update rate the message will be polled. Example: Low Power Acquisition Parameters - A0A20019—Start Sequence and Payload Message I.D. 167 Length Table B-30 contains the input values for the A7000075300001D4C000000000000000000 following example: 000000000000000—Payload Set maximum off and search times for 02E1B0B3—Message Checksum and End re-acquisition while receiver is in low power. Sequence Table B- 30 Set Low Power Acquisition Parameters Name Bytes Message ID 1 Max Off Time 4 Max Search Time 4 TBD 4 TBD 4 TBD 4 TBD 4 Binary(Hex) Scale Example A7 00007530 0001D4C0 00000000 00000000 00000000 00000000 Units ms ms Description Decimal 167 Maximum time for sleep mode Max. satellite search time Reserved Reserved Reserved Reserved Payload Length: 25 bytes Output Messages for SiRF Binary Protocol Note – All output messages are received in BINARY format. SiRF demo interprets the binary data and saves if to the log file in ASCII format. Table 42 lists the message list for the SiRF output messages Hex 0x02 0x04 0x05 0x06 0x07 0x08 ASCII 2 4 5 6 7 8 Name Measured Navigation Data Measured Tracking Data Raw Track Data SW version Clock Status 50 BPS Subframe Date 32 Description Position, velocity, and time Signal to noise information Measurement information Receiver software Standard ICD format RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual) 0x09 0x0B 0x0C 0X0D 0x0E 0x0F 0x11 0x12 0x13 0x1C 0x1D 0x1E 0x1F 0x64 0xFF 9 11 12 13 14 15 17 18 19 28 29 30 31 100 255 Throughput Command Acknowledgment Command N Acknowledgment Visible List Almanac Data Ephemeris Data Differential Corrections OkToSend Navigation Parameters Nav. Lib. Measurement Data Nav. Lib. DGPS Data Nav. Lib. SV State Data Nav. Lib. Initialization Data RoyalTek Navigation Data Development Data CPU load Successful request Unsuccessful request Auto Output Received from DGPS broadcast CPU ON / OFF (Trickle Power) Response to Poll Measurement Data Differential GPS Data Satellite State Data Initialization Data UTC , lat , lon, validate output Various data messages Measure Navigation Data Out – 02FFD6F78CFFBE869E003AC004000301 Message I.D.2 04A00036B039780E3 Output Rate: 1 Hz 0612190E160F04000000000000 – Table 43 lists the binary and ASCII Payload message data format for the measured 09BBB0B3 – Message Checksum, and navigation data End Sequence Example: A0A20029 – Start Sequence and Payload Length Table 43 Measured Navigation Data Out – Binary & ASCII Message Data Format Name Message ID X – position Y – position Z – position X – velocity Y – velocity Z – velocity Mode1 DOP2 Mode3 GPS Week GPS TOW SVs in Fix CH 1 CH 2 CH 3 CH 4 CH 5 CH 6 CH 7 CH 8 CH 9 CH 10 Bytes 1 4 4 4 2 2 2 1 1 1 2 4 1 1 1 1 1 1 1 1 1 1 1 Binary(Hex) Scale Example 02 FFD6F78C FFBE536E 003AC004 *8 00 *8 03 *8 01 04 *5 A 00 036B *100 039780E3 06 12 19 0E 16 0F 04 00 00 00 00 33 Units M M M M/s M/s M/s Bitmap1 Bitmap3 seconds ASCII(Decimal) Scale Example 2 -2689140 -4304018 3850244 Vx/8 0 Vy/8 0.375 /8 0.125 4 /5 2.0 0 875 /100 602605.79 6 18 25 14 22 15 4 0 0 0 0 RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual) CH 11 CH 12 1 1 00 00 0 0 Payload Length :41 bytes 3 1 For further information , go to Table 42 Note – Binary units scaled to integer 2 Dilution of precision (DOP) field contains values need to be divided by the scale For further information , go to Table 43 value of PDOP when Position is obtained value to receive true decimal value (i.e., using 3D solution and HDOP in all other decimal Xvel = binary Xvel /8). cases. Table 44 Mode 1 Description Mode 1 Hex 0x00 0x01 0x02 0x03 0x04 0x05 0x06 0x07 ASCII 0 1 2 3 4 5 6 7 No Navigation Solution 1 Satellite Solution 2 Satellite Solution 3 Satellite Solution (2D) >=4 Satellite Solution (3D) 2D Point Solution(Krause) 3D Point Solution(Krause) Dead Reckoning (Time Out) Table 45 Mode 2 Mode 2 Hex 0x00 0x01 0x02 0x03 0x04 0x05 0x06 0x07 Description ASCII 0 1 2 3 4 5 6 7 DR Sensor Data Validated / Unvalidated Dead Reckoning (Time Out) Output Edited by UI Reserved Reserved Reserved Reserved 04036C0000937F0C0EAB46003F Measured Tracker Data Out – 1A1E1D1D191D1A1A1D1F1D594 Message I.D.4 23 Output Rate: 1 Hz F1A1A…. – Payload ****B0B3 – Table 46 lists the binary and ASCII Message Checksum and End message data format for the measured Sequence tracker data. Example:A0A200BC – Start Sequence and Payload Length Table 46 Measured Tracker Data Out Name Message ID GPS Week GPS TOW Bytes 1 2 4 Binary(Hex) Scale Example 04 036C S*100 0000937F 34 Units None S ASCII(Decimal) Scale Example 4 876 S/100 37759 RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual) Channels 1st Sv ID Azimuth Elev. State C/NO 1 C/NO 2 C/NO 3 C/NO 4 C/NO 5 C/NO 6 C/NO 7 C/NO 8 C/NO 9 C/NO 10 2nd Sv ID Azimuth Elev. State C/NO 1 C/NO 2 ….. 1 1 1 1 2 1 1 1 1 1 1 1 1 1 1 1 1 1 2 1 1 0C 0E AB 46 003F 1A 1E 1D 1D 19 1D 1A 1A 1D 1F 1D 59 42 3F 1A 1A Az*[2/3] EI*2 Az*[2/3] EI*2 Degree Degree Bitmap1 /[2/3] /2 Degree Degree Bitmap1 /[2/3] /2 12 14 256.5 35 63 26 30 29 29 25 29 26 26 29 31 29 89 66 63 26 63 Payload Length: 188 bytes bytes with non tracking channels reporting For further information, go to Table 45. zero values Note – Message length is fixed to 188 Table 47 Trk. to NAV Struct. Trk._status Field Definition Field Definition ACQ_SUCCESS DELTA_CARPHASE_VALID BIT_SYNC_DONE SUBFRAME_SYNC_DONE CARRIER_PULLIN_DONE CODE_LOCKED ACQ_FAILED GOT_EPHEMERIS Hex Value 0x0001 0x0002 0x0004 0x0008 0x0010 0x0020 0x0040 0x0080 Description Set if acq/reacq if done successfully Integrated carrier phase is valid Bit sync completed flag Subframe sync has been done Carrier pull in done Code locked Failed to acquire S/V Ephemeris data available Note – When a channel is fully locked and all data is valid , the status shown is 0xBF A0A20033 – Start Sequence and Payload Raw Tracker Data Out – Message Length I.D.5 05000000070013003F00EA1BD4000D03 Output Rate:1 Hz 9200009783000DF45E000105B5FF90F5 Table 48 lists the binary and ASCII C20000242827272327242427290500000 message data format for the raw tracker 0070013003F – Payload data . 0B2DB0B3 – Message Checksum and Example: End Sequence Table 48 Raw Tracker Data Out Name Message ID Channel SVID State Bytes 1 4 2 2 Binary(Hex) Scale Example 05 00000007 0013 003F 35 Units Bitmap1 ASCII(Decimal) Scale Example 5 7 19 63 RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual) Bits Ms Chips Code Phase 4 2 2 4 00EA1BD4 000D 0392 00009783 Bit Ms Chip Chip Carrier Doppler 4 2-16 2-10 000DF45E Rad/2ms /2-16 /2-10 Time Tag Delta Carrier2 4 4 2-10 000105B5 FF90F5C2 Ms Cycles /2-10 Search Count C/NO 1 C/NO 2 C/NO 3 C/NO 4 C/NO 5 C/NO 6 C/NO 7 C/NO 8 C/NO 9 C/NO 10 Power Loss Count Phase Loss Count Integration Interval Track Loop Iteration 2 1 1 1 1 1 1 1 1 1 1 1 0000 24 28 27 27 23 27 24 24 27 29 05 dBHz dBHz dBHz dBHz dBHz dBHz dBHz dBHz dBHz dBHz 1 00000007 2 0013 2 003F 15342548 13 914 38787 914526 66997 -7277118 0 36 40 39 39 35 39 36 36 39 41 5 7 Ms 19 63 Payload Length:51 bytes per satellite tracked (up to 12) 1.For further information,go to Table 45 2.Multiply by (1000÷4π)÷216 to convert to Hz. The meaning of I.D.5 is described as following table Message ID: Channel: SVID: State: Bit Number: Each SiRF binary message is defined based on the ID. Receiver channel where data was measured (range 1-12). PRN number of the satellite on current channel. Current channel tracking state (see Table 45) Number of GPS bits transmitted since Sat-Sun midnight (in Greenwich) at a 50 bps rate. Millisecond Number of milliseconds of elapsed time since the last received bit(20 Number: ms between bits) Chip Number: Current C/A code symbol being transmitted (range 0 to 1023 chips;1023 chips=1 ms). Code Phase: Fractional chip of the C/A code symbol at the time of sampling(scaled -16 by 2 ,=1/65536) Carrier Doppler: The current value of the carrier frequency as maintained by the tracking loops. Receiver Time This is the count of the millisecond interrupts from the start of the Tag: receiver (power on) until the measurement sample is taken. The ms interrupts are generated by the receiver clock. Delta Carrier The difference between the carrier phase(current) and the carrier Phase: phase(previous). Units are in carrier cycles with the LSB= 0.00185 carrier cycles. The delta time for the accumulation must be known. Note –Carrier phase measurements are not necessarily in sync with code phase measurement for each measurement epoch. Search Count: This is the number of times the tracking software has completed full satellite signal searche.s C/No: Ten measurements of carrier to noise ratio(C/No) values in dBHZ at input to the receiver.Each value represents 100 ms of tracker data and its sampling time is not necessarily in sync with the code phase measurement. Power Loss The number of times the power detectors fell below the threshold between the Count: present code phase sample and the previous code phase sample. This task is performed every 20 ms (max count is 50). 36 RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual) Phase Loss Count: Integration Interval: Track Loop Iteration: The number of time the phase lock fell below the threshold between the present code phase sample and the previous code phase sample. This task is performed every 20 ms (max count is 50). The time in ms for carrier phase accumulation . This is the time difference (as calculated by the user clock) between the Carrier Phase(current) and the Carrier Phase(previous). The tracking Loops are run at 2 ms and 10 ms intervals. Extrapolation values for each interval is 1 ms and 5 ms for range computations. channel measurements are NOT Calculation of Pseudo-Range taken at the same time. Therefore, all Measurements ranges must be extrapolated to a The pseudo-range measurement in meters common measurement epoch. For can be determined from the raw track data simplicity, the first channel of each by solving the following equation: measurement set is used as the Pseudo-range (PR) = {Received Tine reference to which all other (RT) – Transmit Time (TT)} * C measurements are extrapolated. where C = speed of light 4. The following variables from the raw track Extrapolate the pseudo-range based on the correlation interval to improve data are required for each satellite: precision. Bit Number (BN) – 50 bits per second 5. Millisecond Number (MSN) Compute the delta range. If the accumulation time of the Dalta Carrier Chip Number (CN) Phase is 1000 ms then the measurement is Code Phase (CP) valid and can be added to the previous Delta Receiver Time Tag (RTTag) Carrier Phase to get Accumulated Carrier Delta Carrier Phase (DCP) Phase data. If the accumulation time of the The following steps are taken to get the psr Delta Carrier Phase is not equal to 1000 ms data and carrier data for each measurement then the measurement is not valid and the epoch. accumulation time must be restarted to get Accumulated Carrier Phase data. 1. 2. 3. Computation of initial Receiver Time(RT) in seconds. Note-Where the Response initial arbitrary value chosen at start String – Message I.D.6 :Software Version up to make the PR reasonable Output Rate:Response to polling message (i.e.,set equal to TT+70ms) and then Example: incriminated by one second for each A0A20015 – Start Sequence and Payload measurement epoch. Length Computation of Transmit Time (TT) in 0606312E322E30444B495431313920534 seconds. D0000000000-Payload Calculate Pseudo-range at a common 0382B0B3 – Message Checksum and End receiver time of the first channel of Sequence the measurement data set. Note-All 37 RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual) Table 49 Software Tracker Data Out Name Message ID Character Bytes 1 20 Binary(Hex) Scale Example 06 1 ASCII(Decimal) Scale Example 6 2 Units Payload Length: 21 bytes Note – Convert to symbol to assemble message (i.e., 0x4E is ’N’). These are low priority task and are not necessarily output at constant intervals. Response :Clock Status Data – Message I.D.7 Output Rate:1Hz or response to polling message Example: A0A20014 – Start Sequence and Payload Length 0703BD021549240822317923DAEF – Payload 0598B0B3 – Message Checksum and End Sequence Table 50 Clock Status Data Message Name Message ID GPS Week GPS TOW Svs Clock Drift Clock Bias Estimated GPS Time Bytes 1 2 4 1 4 4 4 Binary(Hex) Scale Example 07 03BD *100 02154924 08 2231 7923 DAEF Units S Hz ns ms ASCII(Decimal) Scale Example 7 957 /100 349494.12 8 74289 128743715 349493999 Payload Length:20 bytes 08******** - Payload 50BPS Data – Message I.D.8 ****B0B3 – Message Checksum and End Output Rate:As available (12.5 minute Sequence download time) Example:A0A2002B – Start Sequence and Payload Length Table 51 Clock Status Data Message Name Message ID Channel Sv ID Word [10] Bytes 1 1 1 40 Binary(Hex) Scale Example 08 Units ASCII(Decimal) Scale Example 8 Payload Length:43 bytes per subframe Almanac) (6subframes per page, 25 pages Note – Data is logged in ICD format 38 RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual) (available from www.navcen.uscg.mail) Example:A0A20009 – Start Sequence and Payload Length 09003B0011001601E5 – Payload CPU Throughput – Message I.D.9 0151B0B3 – Message Checksum and End Output Rate:1 Hz Sequence Table 52 CPU Throughput Name Message ID SegStatMax SegStatLat AveTrkTime Last MS Binary(Hex) Bytes Scale Example 1 09 2 *186 003B 2 *186 0011 2 *186 0016 2 01E5 ASCII(Decimal) Scale Example 9 /186 .3172 /186 .0914 /186 .1183 485 Units ms ms ms ms Payload Length: 9 bytes 0x92)request example: Command Acknowledgment – A0A20002 – Start Sequence and Message I.D.11 Payload Length Output Rate: Response to successful 0B92 – Payload input message 009DB0B3 – Message Checksum and This is successful almanac (message ID End Sequence Table 53 Command Acknowledgment Name Message ID Ack.I.D. Bytes 1 1 Binary(Hex) Scale Example 0B 92 ASCII(Decimal) Scale Example 11 146 Units Payload Length: 2 bytes ID 0x92) request example: Command N Acknowledgment – A0A20002 – Start Sequence and Payload Message I.D. 12 Length Output Rate: Response to rejected Input 0C92 – Payload message 009EB0B3 – Message Checksum and This is unsuccessful almanac (message End Sequence Table 54 Command N Acknowledgment Name Bytes Message ID 1 N Ack. I.D 1 Binary(Hex) Scale Example 0C 92 Units Payload Length:2 bytes 39 ASCII(Decimal) Scale Example 12 146 RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual) Payload Length Visible List – Message I.D.13 0D080700290038090133002C************* Output Rate:Updated approximately every ****** - Payload 2minutes. Note – This is a variable length ****B0B3 – Message Checksum and End message. Only the number of visible Sequence satellites are reported(as define by visible Svs in Table 55), Maximum is 12 satellites Example:A0A2002A – Start Sequence and Table 55 Visible List Name Message ID Visible Svs CH 1 –Sv I.D CH 1 –Sv Azimuth CH 1 –Sv Elevation CH 2 –Sv I.D CH 2 –Sv Azimuth CH 2 –Sv Elevation …… Bytes 1 1 1 2 2 1 2 2 Binary(Hex) Scale Example 0D 08 07 0029 0038 09 0133 002C Units Degrees Degrees Degrees Degrees ASCII(Decimal) Scale Example 13 8 7 41 56 9 307 44 Payload Length:62 bytes(maximum) and Payload Length Almanac Data – Message I.D.14 0E01************* - Payload Output Rate:Response to poll Example ****B0B3 – Message :A0A203A1 – Start Sequence checksum and End Sequence Table 56 Visible List Name Message ID Sv I.D.(1) Almanac Data[14][2] …. Sv I.D.(32) Almanac Data[14][2] Bytes 1 1 28 Binary(Hex) Scale Example 0E 01 1 28 20 Payload Length: 929 bytes(maximum) OkToSend - Message I.D. 18 Output Rate: Trickle Power CPU on/off indicator Example: A0A20002—Start Sequence and Payload Length 1200—Payload 0012B0B3—Message Checksum and End Sequence Table B- 52 Almanac Data 40 Units ASCII(Decimal) Scale Example 14 1 32 RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual) Name Message ID Send indicator1 Bytes 1 1 Binary(Hex) Scale Example 12 00 Units ASCII(Decimal) Scale Example 18 00 Payload Length: 2 bytes 1. 0 implies that CPU is about to go OFF, OkToSend==NO, 1 implies CPU has just come ON, OkToSend==YES Navigation Parameters (Response to Poll) – Message I.D. 19 Output Rate:1 Response to Poll Example: A0A20018—Start Sequence and Payload Length 130100000000011E3C0104001E004B1E00000500016400C8—Payload 022DB0B3—Message Checksum and End Sequence Table B- 53 Navigation Parameters Name Message ID Reserved Altitude Hold Mode Altitude Hold Source Altitude Input Source Degraded Mode1 Degraded Timeout DR Timeout Track Smooth Mode Static Navigation 3SV Least Squares Reserved DOP MASK Mode2 Navigation Elevation Mask Navigation Power Mask Reserved DGPS Source DGPS Mode3 DGPS Timeout Reserved LP Push-to-Fix LP On-Time LP Interval LP User Tasks Enabled LP User Task Interval LP Power Cycling Enabled LP Max. Acq. Search Time LP Max. Off Time Reserved Reserved Bytes 1 4 1 1 2 1 1 1 1 1 1 4 1 2 1 4 1 1 1 4 1 4 4 1 4 1 Binary(Hex) Units Scale Example 13 00000000 00 00 0000 meters 01 1E seconds 3C seconds 01 04 00 1E 4 4 4 4 Payload Length: 65 bytes 1. See Table 22. 2. See Table 24. 3. See Table 26. 41 ASCII(Decimal) Scale Example 19 0 0 0 1 30 60 1 4 seconds 0 30 RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual) Length Navigation Library Measurement 1C00000660D015F143F62C4113F42FF3FB Data - Message I.D. 28 E95E417B235C468C6964B8FBC5824 Output Rate: Every measurement cycle (full 15CF1C375301734.....03E801F400000000 power / continuous : 1Hz) —Payload Example: 1533B0B3—Message Checksum and End A0A20038—Start Sequence and Payload Sequence Table B- 54 Measurement Data Name Message ID Channel Time Tag Satellite ID GPS Software Time Bytes 1 1 4 1 8 Pseudo Range 8 Carrier Frequency Carrier Phase 4 8 Time in Track Sync Flags C/No1 C/No2 C/No3 C/No4 C/No5 C/No6 C/No7 C/No8 C/No9 C/No10 Delta Range Interval Mean Delta Range Time Extrapolation Time Phase Error Count Low Power Count 2 1 1 1 1 1 1 1 1 1 1 1 2 2 2 1 1 Binary(Hex) Scale Example 1C 00 000660D0 15 F143F62C 4113F42F F3FBE95E 417B235C 468C6964 B8FBC582 415CF1C3 7530 17 34 03E801F4 01F4 0000 00 00 Units ASCII(Decimal) Scale Example 28 ms ms m ms m ms ms Payload Length: 56 bytes A0A2001A—Start Sequence and Payload Navigation Library DGPS Data - Length Message I.D. 29 1D000F00B501BFC97C673CAAAAAB3FBF Output Rate: Every measurement cycle (full FE1240A0000040A00000—Payload power / continuous : 1Hz) 0956B0B3—Message Checksum and End Example: Sequence Table B- 55 Measurement Data Name Message ID Satellite ID IOD Source1 Bytes 1 2 2 1 Binary(Hex) Scale Example 1D 000F 00B5 01 42 Units ASCII(Decimal) Scale Example 29 15 181 1 RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual) Pseudo-range Correction Pseudo-range Rate Correction Correction Age Reserved Reserved 4 4 BFC97C67 3CAAAAAB m m/s 3217652839 1017817771 4 4 4 3FBFFE12 s 1069547026 Payload Length: 26 bytes 1. 0 = Use no corrections, 1 = Use WAAS channel, 2 = Use external source, 3 = Use Internal Beacon, 4 = Set DGPS Corrections A0A20053—Start Sequence and Payload Navigation Library SV State Data - Length Message I.D. 30 1E15....2C64E99D01....408906C8—Paylo Output Rate: Every measurement cycle (full ad power / continuous : 1Hz) 2360B0B3—Message Checksum and End Example: Sequence Table B- 56 SV State Data Name Message ID Satellite ID GPS Time Position X Position Y Position Z Velocity X Velocity Y Velocity Z Clock Bias Clock Drift Ephemeris Flag1 Reserved Ionospheric Delay Bytes 1 1 8 8 8 8 8 8 8 8 4 1 8 4 Binary(Hex) Scale Example 1E 15 Units 2C64E99D 01 408906C8 ASCII(Decimal) Scale Example 30 21 s m m m m/s m/s m/s s s 744810909 1 m 1082721992 Payload Length: 83 bytes 1. 0 = no valid SV state, 1 = SV state calculated from ephemeris, 2 = Satellite state calculated from almanac 1F....00000000000001001E000F....00....000 Navigation Library Initialization Data - 000000F....00....02....043402.... Message I.D. 31 ....02—Payload Output Rate: Every measurement cycle (full 0E27B0B3—Message Checksum and End power / continuous : 1Hz) Sequence Example: A0A20054—Start Sequence and Payload Length Table B- 57 Measurement Data Name Message ID Reserved Bytes 1 1 Binary(Hex) Scale Example 1F 43 Units ASCII(Decimal) Scale Example 31 RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual) Altitude Mode1 Altitude Source Altitude Degraded Mode2 Degraded Timeout Dead-Reckoning Timeout Reserved Track Smoothing Mode3 Reserved Reserved Reserved Reserved DGPS Selection4 DGPS Timeout Elevation Nav. Mask Reserved Reserved Reserved Reserved Reserved Static Nav. Mode5 Reserved Position X Position Y Position Z Position Init. Source6 GPS Time GPS Week Time Init. Source 7 Drift Drift Init. Source 8 1 1 4 1 2 2 2 1 1 2 2 2 1 2 2 2 1 2 1 2 1 2 8 8 8 1 8 2 1 8 1 00 00 00000000 01 001E 000F 0 0 0 1 30 15 00 0 00 0000 000F 0 0 15 00 0 02 2 0434 02 1076 2 02 2 Payload Length: 84 bytes 1. 0 = Use last know altitude 1 = Use user 6. 0 = ROM position input altitude 2 = Use dynamic input from 1 = User position external source 2 = SRAM position 2. 0 = Use direction hold and then time hold 3 = Network assisted position 1 = Use time hold and then direction hold 7. 0 = ROM time 2 = Only use direction hold 1 = User time 3 = Only use time hold 2 = SRAM time 4 = Degraded mode is disabled 3 = RTC time 3. 0 = True and 1 = False 4 = Network assisted time 4. 0 = Use DGPS if available 8. 0 = ROM clock 1 = Only navigate if DGPS corrections are 1 = User clock available 2 = SRAM clock 2 = Never use DGPS corrections 3 = Calibration clock 5. 0 = True 1 = False 4 = Network assisted clock RoyalTek Navigation Data – Message I.D.100 Output Rate: 1Hz Example and Payload Length :A0A2001A – Start Sequence 6407D1*********** - Payload 44 RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual) ****B0B3 – Message checksum and End Sequence Table 57 Royaltek Navigation Data Name Message ID Year Month Day Hours Minutes Seconds Degree of Latitude Minutes of Latitude Degree of Longitude Minute of Longitude Altitude Validity Speed Course over ground PDOP HDOP VDOP Bytes 1 2 2 2 2 2 4 2 4 2 4 4 1 2 2 2 2 2 Binary(Hex) Scale Example 64 07D1 000C 0005 0011 001E *1000 5202 19 *10000 0001818C 79 *10000 0002BA64 000000FA 01 *10 0064 0080 *10 012C *10 012C *10 012C Units Sec. degree Min. degree Min. meter Km/h Degree ASCII(Decimal) Scale Example 100 2001 12 5 17 30 20.994 ÷1000 25 9.8700 ÷10000 121 17.8788 ÷10000 250 1 10.0 ÷10 128 30.0 ÷10 30.0 ÷10 30.0 ÷10 Payload Length: 42 bytes. This protocol is provided from RoyalTek firmware Ver. 1.7. release * *hh<CR><LF> Check Sum and sentence termination delimiter Set Ephemeris – Message I.D.254 This command enables the user to upload an ephemeris to the Evaluation unit. Note – This feature is not documented in this manual . For information on implementation contact SiRF Technology Inc. Development Data – Message I.D.255 Output Rate: Receiver generated Example :A0A2**** - Start Sequence and Payload Length FF************* - Payload ****B0B3 – Message Checksum and End Sequence Table 58 Development Data Name Message ID Bytes 1 Binary(Hex) Scale Example FF Units ASCII(Decimal) Scale Example 255 Payload Length:Variable Note – Messages are output to give the (i.e., 0x4E is ‘N’) these are low priority task user information of receiver activity. and are not necessarily output at constant Convert to symbol to assemble message intervals. 45 RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual) GPS Receiver User’s Tip 1. GPS signal will be affected by weather and environment conditions, thus suggest to use the GPS receiver under less shielding environments to ensure GPS receiver has better receiving performance. 2. When GPS receiver is moving, it will prolong the time to fix the position, so suggest to wait for the satellite signals to be locked at a fixed point when first power-on the GPS receiver to ensure to lock the GPS signal at the shortest time. 3. The following situation will affect the GPS receiving performance: a. Solar control filmed windows. b. Metal shielded, such as umbrella, or in vehicle. c. Among high buildings. d. Under bridges or tunnels. e. Under high voltage cables or near by radio wave sources, such as mobile phone base stations. f. Bad or heavy cloudy weather. 4. If the satellite signals can not be locked or encounter receiving problem (while in the urban area), the following steps are suggested: a. Please plug the external active antenna into GPS receiver and put the antenna on outdoor or the roof of the vehicle for better receiving performance. b. Move to another open space or reposition GPS receiver toward the direction with less blockage. c. Move the GPS receiver away from the interferences resources. d. Wait until the weather condition is improved. 5. While a GPS with a backup battery, the GPS receiver can fix a position immediately at next power-on if the build-in backup battery is full-recharged. Contact Information Section Contact : [email protected] HEADQUARTER : Add : 1071 Chung Cheng Rd., Suite 9F-1 Tao Yuan City , Taiwan , R.O.C. Tel :886 – 3 - 3569666 Fax :886 – 3 - 3560900 Web Site : www.royaltek.com Customer Service mail : [email protected] 46