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REV-2000 Operational Manual RoyalTek Evaluation Kit REV-2000 Operational Manual Version 1.1 2001/7/4 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. 1071, Chung Cheng Rd., Suite 9F-1 Tao Yuan City, Taiwan, R.O.C. TEL: 886-3-3569666 FAX: 886-3-3580050 E-Mail: [email protected] http://www.royaltek.com RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual RoyalTek Evaluation Kit REV-2000 Operational Manual INTRODUCTION .........................................................................................................................................1 Packing list .........................................................................................................................................1 GETTING STARTED ....................................................................................................................................3 To Setup REV-2000 ...........................................................................................................................3 Setup procedure.................................................................................................................................4 TO OPERATE REV-2000 ...........................................................................................................................5 Install the SiRFDemo.exe...................................................................................................................5 To use Sirfdemo.exe ..........................................................................................................................5 To switch from NMEA to SiRF protocol ..............................................................................................7 To switch from SiRF protocol to NMEA protocol.................................................................................9 To Synchronize Protocol...................................................................................................................10 To Switch Trickle Power Parameters from SiRFDemo.exe...............................................................10 To change TricklePower parameters of REB-2100 from 12 pins interface. ......................................12 To upgrade GPS engine board program ..........................................................................................12 PRODUCT FEATURES...............................................................................................................................13 PRODUCT APPLICATIONS ..........................................................................................................................14 TECHNIQUE DESCRIPTION ........................................................................................................................14 REB-2100 System Block Diagram......................................................................................................2 REB-12R Block diagram ....................................................................................................................3 Technique specifications ....................................................................................................................3 ORDERING INFORMATION ...........................................................................................................................7 ABSOLUTE MAXIMUM RATINGS ..................................................................................................................10 SOFTWARE INTERFACE ............................................................................................................................10 NMEA V2.2 Protocol ........................................................................................................................10 GGA-Global Positioning System Fixed Data ....................................................................................10 GLL-Geographic Position – Latitude/Longitude................................................................................11 GSA-GNSS DOP and Active Satellites ............................................................................................11 GSV-GNSS Satellites in View ..........................................................................................................12 RMC-Recommended Minimum Specific GNSS Data.......................................................................12 VTG-Course Over Ground and Ground Speed ................................................................................13 SIRF PROPRIETARY NMEA INPUT MESSAGES ..........................................................................................13 SIRF NMEA INPUT MESSAGES ...............................................................................................................14 Set Serial Port ..................................................................................................................................14 LLA Navigation Initialization .............................................................................................................14 Set DGPS Port .................................................................................................................................15 Query/Rate Control ..........................................................................................................................15 i RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual LLA Navigation Initialization .............................................................................................................16 Development Data On/Off ................................................................................................................16 Calculating Checksums for NMEA Input ..........................................................................................17 SIRF BINARY PROTOCOL ........................................................................................................................17 INPUT MESSAGES FOR SIRF BINARY PROTOCOL .......................................................................................18 Initialize Data Source-Message I.D. 128 ..........................................................................................18 Switch To NMEA Protocol – Message I.D. 129 ................................................................................19 Set Almanac- Message I.D. 130.......................................................................................................20 Software Version – Message I.D. 132 ..............................................................................................20 Mode control – Message I.D .136.....................................................................................................21 DOP Mask Control – Message I.D. 137 ...........................................................................................21 DGPS Control – Message I.D.138....................................................................................................22 Elevation Mask – Message I.D.139..................................................................................................22 Power Mask – Message I.D.140 ......................................................................................................23 Steady State Detection – Message I.D.142......................................................................................23 Static Navigation – Message I.D.144 ...............................................................................................23 Set DGPS Serial Port – Message I.D 145 ........................................................................................24 Almanac – Message I.D.146 ............................................................................................................24 Ephemeris Message I.D.147 ............................................................................................................24 Switch To SiRF Protocol...................................................................................................................25 Switch Operating Modes - Message I.D. 150 ...................................................................................25 Set Trickle Power Parameters - Message I.D. 151...........................................................................25 Computation of Duty Cycle and On Time. ........................................................................................26 Push-to-Fix.......................................................................................................................................26 Poll Navigation Parameters - Message I.D. 152...............................................................................27 OUTPUT MESSAGES FOR SIRF BINARY PROTOCOL ....................................................................................27 Measure Navigation Data Out – Message I.D.2 ...............................................................................27 Measured Tracker Data Out – Message I.D.4 ..................................................................................29 Raw Tracker Data Out – Message I.D.5...........................................................................................30 Calculation of Pseudo-Range Measurements ..................................................................................31 Response :Software Version String – Message I.D.6 ....................................................................32 Response :Clock Status Data – Message I.D.7.............................................................................32 50BPS Data – Message I.D.8 ..........................................................................................................33 CPU Throughput – Message I.D.9 ...................................................................................................33 Command Acknowledgment – Message I.D.11................................................................................34 Command N Acknowledgment – Message I.D. 12...........................................................................34 Visible List – Message I.D.13 ...........................................................................................................34 Almanac Data – Message I.D.14......................................................................................................35 ii RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual Set Ephemeris – Message I.D.254...................................................................................................35 Development Data – Message I.D.255.............................................................................................35 iii RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual Introduction REV-2000 is an evaluation kit for RoyalTek GPS engine board series, REB-12R2/R6/ REB-2000/ REB-2001.It is convenient to test the GPS performance,cold start / warm start / hot start,position update and so on by using the REV-2000. REV-2000 helps you understand the operation and performance of Royaltek’s GPS engine boards in a couple of minutes. It can also provide you design the OEM products that use RoyalTek’s GPS engine boards. Packing list The evaluation kit contains follows: 1 RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 REV-2000 Operational Manual 1. Evaluation 3. Power Core 2. 4. 5. RS232 Cable BNC to MCX Cable GPS active antenna No. Items Specification Quantity Description 1 REV-2000 Evaluation Board 68*88mm 1 PROVIDE POWER FOR GPS ENGINE BOARD AND CONVERT THE SIGNAL FROM TTL TO RS-232 CONNECTING TO PC. 2 Power Core AC 110V or 220V 7.5V/1.0A/2.5mm/1.8M 1 AC/DC ADAPTOR. THERE ARE TWO TYPES OF ADPATOR, 110V AND 220V. 3 RS232 Cable 9pin/1.5M 1 RS-232 CABLE CONNECTING EVALUATION BOARD WITH PC. 4 RF Extension Cable (Optional) 150mm 1 RF EXTENSION CABLE FOR MCX TO BNC. IF YOU ORDER THE MMCX ANTENNA FOR REB-2000, YOU DON’T NEED TO ORDER THIS EXTENSION CABLE. PLEASE CONTACT [email protected] FOR FURTHER INFORMATION. 5 GPS active antenna 5M 1 GPS ACTIVE ATENNA. 6 GPS receiver (Optional) REB-12R or REB-2000 2 THERE ARE TWO KINDS OF GPS, REB-12R AND REB-2000 SERIES. PLEASE SELECT THE DESIRED ON. RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual Getting started To Setup REV-2000 The interface of REV-2000 is shown as follows: VBT Backup battery input 2.5V ~ 3.1V CON20 REB-12R2 connector DC input +6.5V ~ CON12 REB-2000/REB-2100 RESET switch Power BOOT jumper Open: Normal operation Power mode Short: Program upgrade jumper J1 Open: +5V Short: +3.3V P2 DGPS RTCM-104 port P1 NMEA / SiRF protocol port Connecting to PC/Laptop Power mode jumper J1 waiting for program upgrade and output The power core of REV-2000 is 110V AC/ 7.5V nothing when running SiRF demo program. DC adaptor. It converts the 110 AC to DC. Please refer the program upgrade session for RoyalTek can also provide you 220V AC power program update. core. Beware of the AC power of your office DC input and tell RoyalTek’s sales person for preparing the correct power code for you. The power input can be DC input instead of REV-2000 provides 3 power modes on borad, using AC power core. The input range of the 3.3V and 5V. JP1: Open for +5V, Short for 3.3V. DC input is from 6.5V ~ 12V. We suggest The 3.3V is for REB-2000/ REB-2100. The 5V you use +7.5V as the DC input. Reset is for REB-12R2. BOOT jumper It is used for external reset. VBT The BOOT jumper is for program upgrade. It shall be kept open for normal operation. When This is for RAM backup power of the BOOT is short, the GPS engine board is REB-2000/REB-2100 and REB-12R2. The 3 RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual Setup procedure input range is from 2.5V ~ 3.1V DC. P1 (1) Plug the REB-12R2 on the CON20 This is NMEA/SiRF protocol output/input port. (2) Plug the active antenna into the external Please connect it to PC or Laptop RS-232 antenna connector. The suitable view port. angle of the active antenna is necessary. P2 Caution: Please do not put any metal This is DGPS input port. stuff on the antenna. CON12 (3) Connecting the RS-232 cable between This is the socket for REB-2000/REB-2100. REV-2000 P1 and PC. Please refer the hardware interface section (4) Plug the power core. (or connecting the for the pin assignment. DC power input, 6.5V ~ 12V) CON20 After you finish setup, it is like as follows: This is the socket for REB-12R2. Please refer the hardware interface section for the pin assignment. Active GPS antenna AC PC 4 COM1 or COM2 RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual PC COM1 (2) Choose the “Supplied Data” radio button. Click the “Instrument(Measured Data)” To operate REV-2000 check box. (3) Select the serial port, e.g. COM1. The Install the SiRFDemo.exe Copy the SiRFDemo.exe from the CD-ROM default baud rate of REB-2100 and \Toolkit\SiRFDemo.exe to the destination path, Reb-12R2 is 9600bps. Click the OK. (4) There are 6 menus on the menu bar: e.g. “c:\RoyakTek\REV-2000\Demo.exe”. Add a shortcut of SiRFdemo.exe on the desktop of Setup, View, Action, Navigation, Poll and Windows 98. Window. To use Sirfdemo.exe (1) Double click the SiRFdemo.exe. 5 RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual Connect/ Data source Tracking Signal Level Disconnect Signal Level Toggle button view Tracking view Map Map Development view “Map view”. (5) Click the “Signal level”, “Tracking”, “Map” (6) Check the View / Messages / buttons of the tool bar to enable the Development to enable the development “Signal level view”, “Tracking view” and view. 6 RoyalTek GPS Receiver REB-2000/REB-12R (7) Click the REV-2000 Operational Manual to start testing. : Initialize Data Source (8) The other buttons of tool bar are explained (9) After you click the as follows: , you can see the NMEA output on the development view. : Pause the data reception. :Log the data as a *.log file. To switch from NMEA to SiRF protocol Check Action / Switch to SiRF Protocol. 7 RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual You could see the following screen after you switch to SiRF protocol. 12-Channel Signal Level Data: Information Displayed Satellite Number (SV) Status (St) Azimuth (Az) Elevation (EI) C/No Signal Level (-5 sec) Description GPS satellite PRN number Satellite status Satellite azimuth (in degrees) Satellite elevation (in degrees) Signal level (in dB-Hz) 5-second history Tracking view: used to calculate the navigation Green: Satellite is tracked and used to solution. calculate the navigation solution. Red: Satellite is lost tracked. Blue: Satellite is tracked but is not Development data view: It is for 8 RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual development purpose not for user. Map View: Demonstrate the GPS time, Click the Latitude, Longitude, Altitude and source. It provides the cold start, warm Navigation mode etc. start and hot start test functions. The button to initialize data receiver initialization view is like follows: Initialize Data Source The definition of cold start, warm start and hot start is described as following table: Option Description The Evaluation Unit restarts by using values stored in the internal of the GPS receiver. Warm Start (No init) This option has the same functionality as Hot Start except that Ephemeris data and retains all other data. Warm Start (init) This option clears all initialization data in the GPS receiver and subsequently reloads the data that is currently displayed in the GPS receiver initialization is cleared. Cold Start This option clears all data that is currently stored in the internal memory of the GPS receiver including position, almanac, ephemeris, time, and clock drift. Hot Start To switch from SiRF protocol to NMEA protocol (1)Select the “Action/Switch to NMEA Protocol” like follows. 9 RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual (2) After you select the “Switch to NMEA Protocol”, it will show up a “Select NMEA Messages” dialog. Select the NMEA Messages that you want to use. (3) Determine the update rate for each NMEA protocol/baud rate is set in REB-2100 or message REB-12R2, you can use this option to (4) Select the baud rate that you want to use synchronize protocol. Select the from the Baud Rate pull down menu. Action/Synchronize Protocol and Baud Rate. (5) Click the OK button to save or Cancel It will synchronize the protocol and Baud button to exit Rate. (6) It will switch to NMEA protocol. To Switch Trickle Power Parameters from SiRFDemo.exe To Synchronize Protocol When you don’t know what the There are two modes of low power operation: 10 RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual (1) Trickle power: In TricklePower mode, the can be provided quickly after power-up. power to is cycled periodically, so that it REB-2100 provides push to fix function operates only a fraction of the time. but it is disabled default. REB-12R2 does REB-2100 has the default trickle power not provide this function. parameters: OnPeriod: 300ms, Update It provides the trickle power operation in rate: 1 second. REB-12R2 does not REB-2100 default. REB-12R2 doesn’t support provide the trickle power feature. the trickle power now. To enable trickle power (2) Push to fix: In Push-to-Fix mode, the mode from SiRFdemo.exe, please select the receiver is generally off, but turns on “Action/Set TricklePower Parameters” like frequently enough to collect ephemeris. following picture. So that, upon user request, a position fix Then, it will show a “TricklePower parameters” seconds. The “On time” means running time in dialog for parameters setting. There are two the output period. For example, “200 ms” parameters of Trickle power that needs to be means the running time is 200 ms per set, “Update Rate and On Time”. The “Update navigation update. The duty cycle of trickle Rate” means the navigation update frequency. power is determined by setting of “Update Rate” For example, “1 sec” means output once per and “On Time”. For example, if the “Update second and “2 sec” means output once per 2 Rate” is 1 sec and “On time” is 200ms, the duty 11 RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual cycle is 200ms/1000ms = 20%. If the “Update the proper duty cycle that can compromise the Rate” is 2 sec and “On Time” is 300 ms, the power consumption and acceptable navigation duty cycle is 300ms/2000ms = 15%. The duty performance. The “ricklePower Prameters” cycle is limited to 5% ~ 50%. Since it will do dialog is shown as following picture. some estimation in trickle power, please tune Message I.D. 129” to switch back to To change TricklePower parameters NMEA protocol. of REB-2100 from 12 pins interface. Since it is NMEA output default, it needs to change to SiRF protocol before change To upgrade GPS engine board TricklePower parameters. The procedure is program described as follows: (1) Turn off the power. (1) Use “Set Serial Port” command of SiRF (2) Keep the BOOT jumper short. NMEA input messages. (3) Turn on the power. $PSRF100,0,9600,8,1,0*0C<CR><LF> (4) Run the SiRFProg.exe. It will switch from NMEA to SiRF protocol. (5) Select the Target Loader File. Select dltarget.s for REB-12R2/R1. Select (2) Use “Set Trickle Power Parameters - dlgsp2.bin for REB-2100. Message I.D. 151” to set the trickle power (6) Select the Target file that need to be parameters. programmed into flash memory. (3) Use “Switch To NMEA Protocol – 12 RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual (7) Select the COM port. Keep the Baud rate memory. at 19200 for REB-2100 and 9600 for (10) When you finish upload, turn off the power. Keep the BOOT jumper open and turn on REB-12R2/R1. (8) If you want to upload program to power. It will run the new program that Reb-2100, please assert the GPS2 check uploaded into flash memory. box. But leave it unasserted for Reb-12R2/R1. (9) Click Upload to begin programming flash 12 parallel channels 0.1 second re-acquisition time. Product Features Trickled power enabled for power REB-2100 saving. OEM product development is fully Enhanced algorithm for navigation supported through applications stability. engineering and WEB technique NMEA-0183 compliant forum. protocol/custom protocol. Small and compact footprints WAAS demodulator measuring “ ”. 13 RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual Excellent sensitive for urban canyon Timing application REB-12R and foliage environments. Single satellite positioning. Automotive applications Dual multi path rejection. Personal positioning and navigation REB-12R Marine navigation OEM product development is fully Timing application supported through applications engineering and WEB technique forum. Technique description 12 parallel channels REB-2100 0.1 second re-acquisition time. General information. The REB-2100 is a Enhanced algorithm for navigation stamp size GPS receiver. It requires +3.3V DC stability. power input. It can operate with an active NMEA-0183 compliant antenna through a MMCX connector. It protocol/custom protocol. provides the antenna power through RF cable. Excellent sensitive for urban canyon The default DC input of active antenna is 3.3V and foliage environments. +/- 10%. Since it needs 4 satellites or more to Single satellite positioning. do the first position fix. The suitable view angle Dual multi path rejection. of the active antenna is necessary. It will determine the first time position update after a good satellites geometry (PDOP <= 10). If the Product applications satellites are blocked, it may take time to REB-2100 determine the position. Caution: Please do Portable IA device for personal not put any metal stuff on the antenna. It navigation/ position commerce results in GPS receiver getting nothing. In (P-Commerce) urban canyon, the fast 0.1 s re-acquisition Automotive applications capability can make it determine the position Personal positioning and navigation right away through the cross-intersection. Marine navigation 14 RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual Pin 1 Pictures MMCX Pin REB-2100 System Block Diagram Active antenna Flash Memory 12 pins LNA SiRF SAW Filter SIRF GRF2I 2 GSP2e RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual REB-12R MCX Pin REB-12R Block diagram Active antenna Flash memory LNA SiRF 20 pins GSP2e Hitachi SH1 Ceramic Filter SIRF GRF1/LX SRAM Snap start:2second, average Technique specifications Hot start REB-2100. Warm start Operational Characteristics. Cold start 12 Channels 8second, average 45second, average 60second, average Reacquisition:0.1 second, average L1, 1575.42MHz. Navigation update rate C / A code, 1.023MHz chip rate. second. 3 Once per RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual Datum: WGS-84. Acceleration Accuracy. 4 g. , Max. Power Requirements. Position accuracy 25m CEP without SA Regulated power for the REB-2000/ Velocity accuracy:0.1 meters/second REB-2100 is required. The input voltage without SA shall be 3.3V ± 10 %. The power of active DGPS Accuracy. antenna is supplied by Position:1 to 5 m, typical REB-2000/REB-2100. It doesn’t need to Velocity: 0.05 meters/second, typical supply the antenna from outside of Dynamics. Altitude REB-2000/REB-2100. The full run (without 18000 meters (60000 feet) trickle power) maximum current is less Max. than 170mA. Velocity 515 meters / second Max. Physical. REB-2100 Dimension. Pin Header 1.27mm 12Px1 180 7.75 7.75 24.5 1.27 2- 3.5 5 3.5 2.6mm 5 6 31.5 24.3 27 3.7 1.3 1 26.7 5 30 6.5 10.6 40 Weight. 8.6g Environment. 4 RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual Temperature. Humidity. ≦95% noncondensing. RF connector Storage temperature –10 ~ +85 Degree (Celsius). The RF connector is MMCX receptacle. Active antenna. Operating temperature -10 ~ +70 Degree (Celsius). GSP Antenna Characteristics Center frequency Bandwidth Gain at Zenith Gain at 10° elevation Polarization Axial Ratio Specification 1575.42 ± 1.023MHz 2MHz Min. 2.0 dBi Min. -4.0 dBi Min. R.H.C.P 4.0dB Max. 5V Filter/LNA: Characteristics Center frequency (fo) Gain Noise Figure Out band attenuation Output V.S.W.R. Voltage Current Specification 1575.42 ± 1.023MHz 28dB Min. 2.0dB Max. 2dB Min. fo ± 20MHz 12dB Min. fo ± 50MHz 22dB Min. fo ± 100MHz 2.0 dB max. 5.0 ± 0.5V 12mA Max. 3.3V Filter/LNA: Characteristics Center frequency (fo) Gain Noise Figure Out band attenuation Output V.S.W.R. Voltage Current Specification 1575.42 ± 1.023MHz 26dB Min. 2.0dB Max. 2dB Min. fo ± 20MHz 12dB Min. fo ± 50MHz 22dB Min. fo ± 100MHz 2.0 dB max. 3.3 ± 0.3V 12mA Max. REB-12R. Navigation update rate Operational Characteristics. Once per second. 12 Channels Datum: WGS-84. Accuracy. L1, 1575.42MHz. C / A code, 1.023MHz chip rate. Position accuracy Snap start:2second, average Velocity accuracy:0.1 meters/second Hot start without SA Warm start Cold start 8second, average 25m CEP without SA DGPS Accuracy. 45second, average 60second, average Position:1 to 5 m, typical Reacquisition:0.1 second, average Velocity: 0.05 meters/second, typical 5 RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual Dynamics. Altitude %. The power of active antenna is 18000 meters (60000 feet) Max. supplied through the 2 nd pin of the Velocity 515 meters / second Max. interface. The maximum current is less Acceleration 4 g. , Max. than 180mA without antenna. Physical. Power Requirements. Dimension. 72mm x 41mm x 19mm Regulated power for the REB-12R2 is required. The input voltage shall be 5V ± 5 Pin header 2.0mm 10Px2 180 4- 3.2mm 8.1 1.9 J1 3.18 C3 R46 B1 U4 D1 R39 C47 R19 R21 R40 U6 R13 D2 U7 C12 R18 R45 C5 R41 R42 64.77 71.13 C13 R4 C2 R9 U27 Z1 Z2 R32 C51 C52 22.85 1.5 3.18 8.8 5.6 34.29 11.25 40.65 Weight. 23gw It is same as the one for REB-2100 except Environment. the RF connector. Temperature. Storage temperature –55 ~ +100 Degree (Celsius). Operating temperature -40 ~ +85 Degree (Celsius). Humidity. ≦95% noncondensing. RF connector. The RF connector is MCX receptacle. Active antenna. 6 RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual Ordering information For the complete pricing and delivery information, please contact: RoyalTek Company Ltd. 1071 Chung Cheng Rd.,Suite 9F-1,Tao Yuan City,Taiwan,R.O.C. Tel: 886-3-3569666 Fax: 886-3-3560900 Http://www.royaltek.com e-mail: [email protected] Hardware interface REB-2100. Pin NO 1 2 Signal Name VCC_3 TXA I/O Description 3 4 5 6 7 RXA GND GPIOA TXB RXB I O +3.3V DC Power Input NMEA Output 9600bps, 8 data bits, no parity, 1 stop bit Reserved Ground Reserved Reserved RTCM 104 differential GPS input. 8 TIMEMA RK O 9 RESET I 10 11 VANT VBAT O I 12 BOOTSE T G I Characteristics DC +3.3V ± 10%. TTL Level Voh ≥ 2.4V Vo1 ≤ 0.4V TTL Level Voh ≥ 2.4V Vo1 ≤ 0.4V 1PPS Time Mark Output. TTL Level Voh ≥ 2.4V Vo1 ≤ 0.4V Reset Input, Active Low Voh>VCC_3 -1.5V Vol<0.3V Reserved DC +3.3V ± 10%. User Supply +2.5~3.1V DC DC + 2.5 ~ 3.1V Power Input* Current ≤ 10uA Reserved VCC_3 DC Power Input board. Connect all grounds. RoyalTek also provides the 3.3 V version Serial Data:RXA, RXB, TXA, and TXB GPS receiver. This is the main power supply The GPS Engine board supports two full for the Engine board. Use a regulated 3.3V duplicated supply (± 10%). connections are at TTL levels, and all GND support variable baud rates. A TTL to RS232 GND provides the ground for the Engine conversion 7 serial is channels. necessary All to four directly RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual communicate with a PC serial port. tied high. RXA TIMEMARK This is the main receiving channel and is This pin provides one pulse per second output from used to receive software commands to the the engine board which is synchronized to within one Engine board from user written software. microsecond of GPS time. The output is a TTL RXB negative level signal with negative logic. This is the auxiliary receive channel and is VBAT used to input differential corrections to the This is the battery backup supply that Engine board to DGPS navigation. powers the SRAM and RTC when main TXA power is removed. Typical current draw is 10 uA. Without an external backup battery or on This is the main transmit channel and is used board battery, engine board will execute a to output navigation and measurement data cold start after every turn on. To achieve the to user written software. faster start-up offered by a hot or warm start, TXB either a backup battery must be connected Reserved. or battery installed on board. RESET BOOTSEL This pin provides an active-low reset input to This is for software upgrade when pull high the Engine board. It causes the board to reset to 3.3V. It can be left non-connected for and start searching for satellites. PB Reset is normal operation because of internal 68kΩ an optional input and, if not used, should be pull low resistor. REB-12R LXHA version Pin NO 1 2 3 Signal Name VANT VCC_5 VBAT I/O 4 5 Reserved RESET I 6 7 8 9 10 11 RESERVED RESERVED RESERVED RESERVED GND TXA G O 12 RAX I 13 14 GND TXB G O 15 RXB I 16 17 GND RESERVED G - I I I Description Characteristics Antenna DC Voltage Depending on the user requirement.. +5V DC Power Input DC +5V ± 10%. User Supply +3.3V DC DC +3.3V ± 10%. Power Input* Current ≤ 10mA Reserved DC +3V ± 10% Reset Input, Active Low Vih>2.3V , Voh>VCC-1.5V Vil<0.8V , Vol<0.4V Reserved Reserved Reserved Reserved Ground NMEA Output Voh ≥ VCC-0.5, Vo1 ≤ 0.4V, I o h = 9600bps, 8 data bits, -200uA no parity, 1 stop bit I o 1 = 1.6mA Serial Data Input A VCC*0.7 ≤ Vih ≤ VCC+0.3V, -0.3V ≤ Vil ≤ VCC*0.2V Ground Serial Data Output B Voh ≥ VCC-0.5, Vo1 ≤ 0.4V, I o h = -200uA I o 1 = 1.6mA RTCM 104 differential VCC*0.7 ≤ Vih ≤ VCC+0.3V GPS input. -0.3V ≤ Vil ≤ VCC*0.2V Ground Reserved 8 RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual 18 19 GND TIMEMARK G O Ground 1PPS Time Mark Output. 20 RESERVED - Reserved Voh ≥ VCC-0.4V, Vo1 ≤ 0.4V, I o h = 4mA I o 1 = 4mA Pulse duration 100ms. Time reference is at the pulse negative edge. Measurements are aligned to GPS second, ± 1 microsecond. VCC_5 DC Power Input TXA This is the main power supply for the GPS This is the main transmit channel and is used Engine board. Use a regulated 5V supply (± to output navigation and measurement data 5%) capable of supplying 180mA. to user written software. VANT TXB DC voltage for an active antenna. This Reserved. voltage is not required for operation with a RESET passive antenna. This pin provides an active-low reset input to VCC_3 DC Power Input the Engine board. It causes the board to reset RoyalTek also provides the 3.3 V version and start searching for satellites. PB Reset is GPS receiver. This is the main power supply an optional input and, if not used, should be for the Engine board. Use a regulated 3.3V tied high. supply (± 5%). TIMEMARK GND This pin provides one pulse per second output from GND provides the ground for the Engine the engine board which is synchronized to within one board. Connect all grounds. microsecond of GPS time. The output is a TTL Serial Data:RXA, RXB, TXA, and TXB negative level signal with negative logic. The GPS Engine board supports two full VBAT duplicated This is the battery backup supply that serial channels. All four connections are at TTL levels, and all powers the SRAM and RTC when main support variable baud rates. A TTL to RS232 power is removed. Typical current draw is 10 conversion uA. Without an external backup battery or on is necessary to directly communicate with a PC serial port. board battery, engine board will execute a RXA cold start after every turn on. To achieve the faster start-up offered by a hot or warm start, This is the main receiving channel and is either a backup battery must be connected used to receive software commands to the or battery installed on board. Engine board from user written software. RXB This is the auxiliary receive channel and is used to input differential corrections to the Engine board to DGPS navigation. 9 RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual Absolute maximum ratings REB-2000/REB-2100 Parameter Supply voltage Input pin voltage Output pin voltage Output current RTC power Symbol VCC_3 Min. Value -0.3 -0.3 -0.3 VBAT Unit V V V mA V 1.5 Max. Value 3.6 VCC_3 + 0.3 VCC_3 + 0.3 ±25 3.6 Symbol VCC_5 VBAT Unit V V Min. Value -0.3 -0.3 Max. Value 6 3.6 REB-12R Parameter Supply voltage RTC power Software interface following NMEA-0183 messages:GGA, GLL, GSA, GSV, RMC and VTG. NMEA V2.2 Protocol NMEA Output Messages It is the RS-232 interface:9600 bps, 8 bit The Engine board outputs the following data, 1 stop bit and no parity. It supports the Table 1 messages as shown in 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 example: $GPGGA, 161229.487, GGA-Global Positioning System 3723.2475, N, 12158.3416, W, 1, Fixed Data 07, 1.0, 9.0, M, , , ,0000*18 Table 2 contains the values of the following 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 Example $GPGGA 161229.487 3723.2475 N 12158.3416 W 1 07 1.0 9.0 M M Units meters meters meters meters 10 Description GGA protocol header hhmmss.sss ddmm.mmmm N=north or S=south dddmm.mmmm E=east or W=west See Table 2-1 Range 0 to 12 Horizontal Dilution of Precision RoyalTek GPS Receiver REB-2000/REB-12R Age of Diff. Corr. Diff. Ref. Station ID Checksum <CR><LF> Table 2-1 REV-2000 Operational Manual second Null fields when DGPS is not used 0000 *18 End of message termination Position Fix Indicator Value 0 1 2 3 Description Fix not available or invalid GPS SPS Mode, fix valid Differential GPS, SPS Mode, fix valid GPS PPS Mode, fix valid example:$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 Units Description $GPGLL GLL protocol header 3723.2475 ddmm.mmmm N N=north or S=south 12158.3416 Dddmm.mmmm W E=east or W=west 161229.487 hhmmss.ss A A=data valid or V=data not valid *2C End of message termination example:$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 Table 4 GSA Data Format Name Message ID Mode 1 Mode 2 Satellite Used Satellite Used …. Satellite Used PDOP HDOP VDOP Checksum <CR><LF> Table 4-1 Value 1 2 3 Example $GPGSA A 3 07 02 1.8 1.0 1.5 *33 Units Description GSA protocol header See Table 4-2 See Table 4-1 Sv on Channel 1 Sv on Channel 2 …. Sv on Channel 12 Position Dilution of Precision Horizontal Dilution of Precision Vertical Dilution of Precision End of message termination Mode 1 Description Fix not available 2D 3D 11 RoyalTek GPS Receiver REB-2000/REB-12R Table 4-2 REV-2000 Operational Manual Mode 2 Value M A Description Manual-forced to operate in 2D or 3D mode Automatic-allowed to automatically switch 2D/3D 256, 42, 27, 27, 138, GSV-GNSS Satellites in View 42*71$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 GGA Data Format Name Message ID 1 Number of Messages 1 Messages Number 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 Description GSV protocol header Range 1 to 3 Range 1 to 3 Channel 1(Range 1 to 32) degrees Channel 1(Maximum 90) degrees Channel 1(True, Range 0 to 359) dBHz Range 0 to 99, null when not tracking …. Channel 4(Range 1 to 32) degrees Channel 4(Maximum 90) degrees Channel 4(True, Range 0 to 359) dBHz Range 0 to 99, null when not tracking End of message termination Specific GNSS Data Depending on the number of satellites 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 Table 6 309.62, 120598, ,*10 GGA Data Format Name Example Units Message ID $GPRMC UTC Position 161229.487 Status A Latitude 3723.2475 N/S Indicator N Longitude 12158.3416 E/W Indicator W Speed Over Ground 0.13 knots Course Over Ground 309.62 degrees Date 120598 Magnetic Variation degrees Checksum *10 <CR><LF> Description RMC protocol header hhmmss.sss A=data valid or V=data not valid ddmm.mmmm N=north or S=south dddmm.mmmm E=east or W=west True ddmmyy E=east or W=west End of message termination 12 RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual Table 7 contains the values of the following VTG-Course Over Ground and example:$GPVTG, 309.62, T, Ground Speed Table 7 , M, 0.13, N, 0.2, K*6E 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 menu. If the receiver is in SiRF Binary NMEA input messages allow you to control mode, all the NMEA input messages are the Evaluation Unit in NMEA protocol mode. ignored. Once the receiver is put into NMEA The Evaluation Unit may be put into NMEA mode, the following messages may be used mode by sending the SiRF Binary protocol 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 Carriage Return (CR) Line Feed (LF) which numeric characters . Input messages begin is \r\n which is hex 0D 0A. Because \r\n are at MID 100. not printable ASCII characters , they are 2 omitted from the example strings, but must Message specific data. Refer to a specific message section for <data>…<data> be sent to terminate the message and cause definition the receiver to process that input message. 3 CKSUM is a two-hex character checksum as defined in the NMEA specification . Use Note – All fields in all proprietary NMEA of checksums is required on all input messages are required, none are exceptional. messages. All NMEA messages are comma delimited 4 Each message is terminated by using 13 RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual 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 Table 8 Set Serial Port Data Format Name Message ID Protocol Baud Data Bits Stop Bits Parity Checksum <CR><LF> 1 $PSRF100,0,9600,8,1,0*0C Example $PSRF100 0 9600 8 Units 1 0 *0C 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. parameters . Correct initialization LLA Navigation Initialization parameters enable the Evaluation Unit to This command is used to initialize the acquire signals quickly. module for a warm start, which provide Table 9 contains the input values for the current position (in X, Y, Z coordinates), following example:Switch to SiRF Binary clock offset , and time .This enables the protocol at 9600,8,N,1 $PSRF Evaluation Unit to search for the correct 101,-2686700,-4304200, 3851624, 95000, satellite signals at the correct signal 497260, 921, 12, 3*22 14 RoyalTek GPS Receiver REB-2000/REB-12R Table 9 REV-2000 Operational Manual Navigation Initialization Data Format Name Message ID ECEF X ECEF Y ECEF Z CLK Offset Example $PSRF101 -2686700 -4304200 3851624 95000 Time Of Week Week No Channel Count Reset Cfh Checksum <CR><LF> 497260 921 12 3 *22 Units Description PSRF101 protocol header X coordinate position Y coordinate position Z coordinate position Meters Meters Meters Hz seconds 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 Table 11 9600,8,N,1. $PSRF 102,9600,8,1,0*3C 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 when the message is accepted. Query/Rate Control Table 12 Query/Rate Control Data This command is used to control the output Format(See example 1.) of standard NMEA messages GGA, GLL, 1.Quety the GGA message with checksum GSA, RMC, and VTG. Using this command enabled: $PSRF103,00,01,00,01*25 message, standard NMEA messages may 2.Enable VTG message for a 1 Hz be polled once, or setup for periodic output. constant output with checksum enabled: Checksums may also be enabled or disabled $PSRF103,05,00,01,01*20 depending on the needs of the receiving 3.Disable VTG message program. NMEA message settings are saved $PSRF103,05,00,00,01*21 in battery-backed memory for each entry 15 RoyalTek GPS Receiver REB-2000/REB-12R Table 12 Query/Rate Control Data Format(See example 1.) Name Message ID Message Mode Rate Cksum Enable Checksum <CR><LF> Table 13 REV-2000 Operational Manual 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 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 Table 14 3*3A LLA Navigation Initialization Data Format Name Message ID Lat Lon Alt CLK Offset Example $PSRF104 37.3875111 -121.97232 0 95000 Time Of Week Week No Channel Count Reset Cfg Checksum <CR><LF> 237759 922 12 3 *3A Units Degrees Degrees Meters Hz Seconds Description PSRF104 protocol header Latitude position (Range 90 to –90) Longitude position (Range 180 to –180) Altitude position Clock Offset of the Evaluation Unit1 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 0x04 Description Data Valid – Warm /Hot Starts=1 Clear Ephemeris – Warm Start=1 Clear Memory – Cold Start =1 user to determine the source of the Development Data On/Off command rejection. Common reasons for Use this command to enable development input command rejection are invalid data information if you can not get the checksum of parameter out of specified commands accepted. Invalid commands range. generate debug information that enables the Table 16 contains the input values for the 16 RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual following examples: 1. 2. Debug Off $PSRF 105,1*3F Debug On $PSRF 105,1*3E 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) Message Checksum Two-bytes (15-bits) Payload Up to 210-1 (<1023 ) End Sequence 0xB0, 0xB3 0xYY denotes a hexadecimal byte value. 0xA0 equals 160. Transport refers to the payload byte length. Likewise, The transport layer of the protocol the check sum is a sum on the payload. Message Length encapsulates a GPS message in two start characters and two stop characters. The The message length is transmitted high values are chosen to be easily identifiable order byte first followed by the low byte. and such that they are unlikely to occur High Byte <0x3F> frequently in the data. In addition, the Low Byte Any value transport layer prefixes the message with a two-byte (15- bit)message length and a Even though the protocol has a maximum two-byte(15-bit) choice of a 15-bit values for length of (215-1) bytes practical length and check sum are designed such considerations require the SiRF GPS that both message length and check sum module implementation to limit this value to can not alias with either the stop of start a smaller number. Likewise, the SiRF code. receiving programs (e.g., SiRF demo) may Message Validation limit the actual size to something less than The validation layer is of part of the transport, this maximum.. but operates independently. The byte count 17 RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual Payload Data by the transport. Let msgLen be the number The payload data follows the message of bytes in the message array to be length. It contains the number of bytes transmitted . specified by the message length. The Index = first payload data may contain any 8-bit value. checkSum = 0 Where multi-byte values are in the payload while index < msgLen data neither the alignment nor the byte order checkSum = checkSum +message[index] are defined as part of the transport although checkSum = checkSum AND(210-1) SiRF payloads will use the big-endian order. Checksum The check sum is transmitted high order Input Messages for SiRF Binary byte first followed byte the low byte. This is Protocol the so-called big- endian order High Byte <0x3F Low Byte Any value Note – All input messages are sent in BINARY The check sum is 15-bit checksum of the bytes in the payload data .The following pseudo code defines the algorithm used. Let message to be the array of bytes to be sent format Table 17 SiRF Messages – Input Message List Hex 0 x 80 0 x 81 0 x 82 0 x 84 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 0 x 92 0 x 93 0 x 95 0 x 96 0 x 97 0 x 98 ASCII 128 129 130 132 136 137 138 139 140 141 142 143 144 145 146 147 149 150 151 152 Name Initialize Data Source Switch to NMEA Protocol Set Almanac Software Version Mode Control DOP Mask Control DFPS Control Elevation Mask Power Mask Editing Residual Steady-State Detection Static Navigation Clock Status Set DGPS Serial Port Almanac Ephemeris Set Ephemeris Switch Operating Mode Set Trickle Power Parameters Navigation Parameters (Poll) with the following initialization data:ECEF Initialize Data Source-Message I.D. WYZ (-2686727 m,-4304282 m,3851642 128 m),Clock Offset (75,000 Hz),Time of Table 18 contains the input values for the Week(86,400 s),Week Number(924),Week following example:Warm start the receiver Number(924),and Channels(12). Raw 18 RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual track data Debug data enabled. 80FFD700F9FFBE5266003AC57A000124 Example: F80083S600039C0C33- Payload A0A20019-Start Sequence and Payload 0A91B0B3-Message Checksum and End Length Sequence Table 18 Initialize Data Source Name Message ID ECEF X ECEF Y ECEF Z Clock Offset Time of Week Week Number Channels Reset Config. Bytes 1 4 4 4 4 4 2 1 1 Binary(Hex) Scale Example 80 FFD700F9 FFBE5266 003AC57A 000124F8 *100 0083D600 039C 0C 33 Units Description ASCII 128 meters meters meters Hz seconds Range 1-12 See Table 19 Payload Length: 25 bytes Table 19 Initialize Data Source Bit Description Data valid flag-set warm/hot start Clear ephemeris-set warm start Clear memory-set cold start Reserved (must be 0) Enable raw track data (YES-1,NO=0) Enable raw track data(TES=1,NO=0) Reserved(must be 0) Reserved (must be 0) 0 1 2 3 4 5 6 7 following example: Note - If Raw Track Data is ENABLED Request the following NMEA data at 9600 then the resulting messages are message baud: I.D. 0x05(ASCII 5-Raw Track Data), GGA – ON at 1 sec , GLL – 1sec , GSA – ON message I.D. 0x08(ASCII 8-50 BPS data), at 1 sec GSV – ON at 1 sec , RMC – 1 sec , and message I.D. VTG – 1 sec 0x90 (ASCII 144 Clock Status). All Example: messages are sent at 1 Hz. A0A20018 – Start Sequence and Payload Length 8102010100010501050100010001000100010 Switch To NMEA Protocol – Message 001000112C0 – Payload I.D. 129 0164B0B3 – Message Checksum and End Table 20 contains the input values for the Table 20 Sequence Switch To NMEA Protocol Name Message ID Mode 1 GGA Message 2 Checksum Bytes 1 1 1 1 Binary(Hex) Scale Example 81 02 01 01 Units Description ASCII 129 1/s 19 RoyalTek GPS Receiver REB-2000/REB-12R GLL Message Checksum BSA Message Checksum GSV Message Checksum RMC Message Checksum VTG Message Checksum Unused Field Unused Field Unused Field Unused Field Unused Field Unused Field Unused Field Unused Field Baud Rate 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 REV-2000 Operational Manual 00 01 05 01 05 01 00 01 00 01 00 01 00 01 00 01 00 01 12C0 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 this manual. For information on message, otherwise data is sent at 1 implementation contact SiRF Technology message every X seconds requested Inc. (i.e., to request a message to be sent Software Version – Message I.D. 132 every 5 seconds, request the Table 21 contains the input values for the message using a value of following example:Poll the software 0x05.)Maximum rate is 1/255s. version (2) A value of 0x00 implies the checksum Example: is NOT calculated OR transmitted A0A20002 – Start Sequence and Payload with the message (not Length recommended ) .A value of 0x01 will 8400 – Payload have a checksum calculated and 0084B0B3 – Message Checksum and End transmitted as part of the message Sequence (recommended). Set Almanac- Message I.D. 130 This command enables the user to upload an almanac to the Evaluation Unit Note – This feature is not documented in Table 21 Name Message ID TBD Software Version Bytes 1 1 Payload Length: Binary(Hex) Scale Example 84 00 2 bytes 20 Units Description ASCII 132 RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual Example: Mode control – Message I.D .136 A0A2000W – Start Sequence and Payload Table 22 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 22 Mode Control 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 Binary(Hex) Scale Example 88 01 01 01 01 01 0000 00 02 14 05 Bytes 1 1 1 1 1 1 2 1 1 1 1 1 1 01 01 Units Meters Seconds Seconds Seconds Description ASCII 136 1 (always true=1) YES = 1,NO = 0 See Table C-7 Reserved YES = 1,NO = 0 Range –1,000 to 10,000 Auto = 0,Always=1,Disable=2 Last Computed=0,Fixed to=1 0 to 120 0 to 120 0 to 120 YES = 1,NO = 0 Payload Length:14 bytes Table 23 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 24 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 21 RoyalTek GPS Receiver REB-2000/REB-12R Table 24 REV-2000 Operational Manual 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 25 DOP Selection Byte Value 0 1 2 3 4 Description Auto PDOP/HDOP PDOP HDOP GDOP Do Not Use Example: DGPS Control – Message I.D.138 A0A20003 – Start Sequence and Payload Table 26 contains the input values for the Length following example: 8A011E – Payload Set DGPS to exclusive with a time out of 00A9B0B3 – Message Checksum and 30 seconds. Table 26 End Sequence DGPS Control Name Message ID DGPS Selection DGPS Time Out Bytes 1 1 1 Binary(Hex) Scale Example 8A 01 1E Units Seconds Description ASCII 138 See Table 27 Range 1 to 120 Payload Length:3 bytes Table 27 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 28 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 22 RoyalTek GPS Receiver REB-2000/REB-12R Table 28 REV-2000 Operational Manual Elevation Mask Name Message ID Tracking Mask Navigation Mask Binary(Hex) Scale Example 8B *10 0032 *10 009B Bytes 1 2 2 Units Description ASCII 139 Not currently used Range –20.0 to 90.0 degrees degrees Payload Length:5 bytes Length Power Mask – Message I.D.140 8C1C21 – Payload Table 29 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 29 Power Mask Name Message ID Tracking Mask Navigation Mask Binary(Hex) Scale Example 8C 1C 21 Bytes 1 1 1 Units dBHz dBHz Description ASCII 140 Not currently implemented Range –28 to 50 Payload Length:3 bytes 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 30 contains the input values for the 8E0F – Payload following example: Set Stead State Threshold to 1.5 m/sec Table 30 Name Message ID Threshold 009DB0B3 – Message Checksum and 2 End Sequence Steady Detection Bytes 1 1 Binary(Hex) Scale Example 8E 0F Units M /sec2 Description ASCII 142 Range 0 to 20 Payload: 2 bytes Static Navigation – Message I.D.144 Table 31 Name Message ID TBD Steady State Detection Bytes 1 1 Binary(Hex) Scale Example 90 00 Units Payload Length:2 bytes 23 Description ASCII 144 Reserved RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual Example: Set DGPS Serial Port – Message I.D A0A20009-Start Sequence and Payload 145 Length Table 32 contains the input values for the 910000258008010000 – Payload following example:Set DGPS Serial port to 013FB0B3 – Message Checksum and End 9600.n,8,1. Table 32 Name Message ID Baud Data Bits Stop Bit Parity Pad Sequence Set DGPS Serial Port Bytes 1 4 1 1 1 1 Binary(Hex) Scale Example 91 00002580 08 01 00 00 Units 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 33 contains the input values for the 9200 – Payload following example:Poll for the Almanac. 0092B0B3 – Message Checksum and End Example: Table 33 Name Message ID TBD Sequence Almanac Bytes 1 1 Binary(Hex) Scale Example 92 00 Units Description ASCII 146 Reserved Payload Length: 2 bytes Length Ephemeris Message I.D.147 930000 – Payload Table 34 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 34 Name Message ID Sv I.D.1 TBD Almanac Bytes 1 Scale 1 1 Binary(Hex) Example 93 00 00 Units Description ASCII 147 Range 0 to 32 Reserved Payload Length:3 bytes 24 RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual 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 35 contains the input values for the following example: Switch To SiRF Protocol Sets the receiver to track a single satellite Note – To switch to SiRF protocol you on all channels. must send a SiRF NMEA message to Example: revert to SiRF binary mode. (See page 9, ” A0A20007—Start Sequence and Payload NMEA Input Messages “ for more Length information) 961E510006001E—Payload 0129B0B3—Message Checksum and End Sequence Table 35 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 A0A20009—Start Sequence and Payload Set Trickle Power Parameters - Length Message I.D. 151 97000000C8000000C8—Payload Table 36 contains the input values for the 0227B0B3—Message Checksum and End following example: Sets the receiver into Sequence low power Modes. Example: Set receiver into Trickle Power at 1 hz update and 200 ms On Time. Table 36 Set Trickle Power Parameters I.D. 151 Binary(Hex) Name Bytes Scale Units Example Message ID 1 97 Push To FixMode 2 0000 Duty Cycle 2 *10 00C8 % Milli Seconds On 4 000000C8 ms Time Payload Length: 9bytes. 25 Description ASCII 151 ON=1, OFF=0 % Time on Range 200 ~ 500 ms RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual 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 37 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 38 for supported/unsupported settings. Table 38 Trickle Power Mode Settings On Time (ms) 200 300 400 500 600 700 800 900 1 Y Y Y Y Y Y Y Y 2 Y Y Y Y Y Y Y Y 3 N Y Y Y Y Y Y Y Update Rate (second) 4 5 N N Y Y Y Y Y Y Y Y Y Y Y Y Y Y 6 N Y Y Y Y Y Y Y 7 N N Y Y Y Y Y Y 8 N N Y Y Y Y Y Y Y = Yes (Mode supported) N = No (Mode NOT supported) the amount of time the receiver remains Push-to-Fix off will be in proportion to how long it In this mode the receiver will turn on every stayed on: 30 minutes to perform a system update Off period = (On Period*(1-Duty Cycle) / consisting of a RTC calibration and Duty Cycle) satellite ephemeris data collection if Off Period is limited to 30 minutes. The required (i.e., a new satellite has become duty cycle will not be less than visible) as well as all software tasks to approximately On Period/1800, or about support SnapStart in the event of an NMI. 1%. Push-to-Fix keeps the ephemeris for Ephemeris collection time in general this all visible satellites up to date so takes 18 to 30 seconds. If ephemeris data position/velocity fixes can generally be is not required then the system will computed within SnapStart times (when re-calibrate and shut down. In either case, requested by the user) on the order of 3 26 RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual seconds. Example: Poll receiver for current navigation parameters. A0A20002—Start Sequence and Payload Poll Navigation Parameters - Length Message I.D. 152 9800—Payload Table C-20 contains the input values for 0098B0B3—Message Checksum and End the following example: Sequence Table 39 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 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 40 Hex 0x02 0x04 0x05 0x06 0x07 0x08 0x09 0x0B 0x0C 0X0D 0x0E 0x0F 0xFF lists the message list for the SiRF output messages ASCII 2 4 5 6 7 8 9 11 12 13 14 15 255 Name Measured Navigation Data Measured Tracking Data Raw Track Data SW version Clock Status 50 BPS Subframe Date Throughput Command Acknowledgment Command N Acknowledgment Visible List Almanac Data Ephemeris Data Development Data Description Position, velocity, and time Signal to noise information Measurement information Receiver software Standard ICD format CPU load Successful request Unsuccessful request Various data messages A0A20029 – Start Sequence and Payload Length Measure Navigation Data Out – Message I.D.2 02FFD6F78CFFBE869E003AC004000301 Output Rate: 1 Hz 04A00036B039780E3 Table 41 lists the binary and ASCII 0612190E160F04000000000000 – message data format for the measured Payload navigation data 09BBB0B3 – Message Checksum, and Example: End Sequence 27 RoyalTek GPS Receiver REB-2000/REB-12R Table 41 REV-2000 Operational Manual Measured Navigation Data Out – Binary & ASCII Message Data Format 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 00 00 Name Bytes Message ID 1 X – position 4 Y – position 4 Z – position 4 X – velocity 2 Y – velocity 2 Z – velocity 2 1 Mode 1 2 DOP 1 3 Mode 1 GPS Week 2 GPS TOW 4 SVs in Fix 1 CH 1 1 CH 2 1 CH 3 1 CH 4 1 CH 5 1 CH 6 1 CH 7 1 CH 8 1 CH 9 1 CH 10 1 CH 11 1 CH 12 1 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 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 42 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) 28 RoyalTek GPS Receiver REB-2000/REB-12R Table 43 REV-2000 Operational Manual 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 Table 44 lists the binary and ASCII ****B0B3 – Message Checksum and End message data format for the measured Sequence tracker data. Example:A0A200BC – Start Sequence and Payload Length Table 44 Name Message ID GPS Week GPS TOW Channels st 1 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 nd 2 Sv ID Azimuth Elev. State C/NO 1 C/NO 2 ….. Measured Tracker Data Out Bytes 1 2 4 1 1 1 1 2 1 1 1 1 1 1 1 1 1 1 1 1 1 2 1 1 Binary(Hex) Scale Example 04 036C S*100 0000937F 0C 0E Az*[2/3] AB EI*2 46 003F 1A 1E 1D 1D 19 1D 1A 1A 1D 1F 1D Az*[2/3] 59 EI*2 42 3F 1A 1A Units None S Degree Degree Bitmap1 Degree Degree Bitmap1 ASCII(Decimal) Scale Example 4 876 S/100 37759 12 14 /[2/3] 256.5 /2 35 63 26 30 29 29 25 29 26 26 29 31 29 /[2/3] 89 /2 66 63 26 63 Payload Length: 188 bytes Note – Message length is fixed to 188 For further information, go to Table 45. bytes with non tracking channels reporting 29 RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual zero values Table 45 Trk. to NAV Struct. Trk._status Field Definition Field Definition Hex Value ACQ_SUCCESS 0x0001 DELTA_CARPHASE_VALI 0x0002 D BIT_SYNC_DONE 0x0004 SUBFRAME_SYNC_DONE 0x0008 CARRIER_PULLIN_DONE 0x0010 CODE_LOCKED 0x0020 ACQ_FAILED 0x0040 GOT_EPHEMERIS 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 46 lists the binary and ASCII C20000242827272327242427290500000 message data format for the raw tracker 0070013003F – Payload data . 0B2DB0B3 – Message Checksum and Example: Table 46 End Sequence Raw Tracker Data Out Binary(Hex) Bytes Scale Example 1 05 4 00000007 2 0013 2 003F 4 00EA1BD4 2 000D 2 0392 4 -16 00009783 2 Carrier Doppler 4 000DF45E 2-10 Name Message ID Channel SVID State Bits Ms Chips Code Phase Bitmap Bit Ms Chip Chip 1 ASCII(Decimal) Scale Example 5 7 19 63 15342548 13 914 38787 /2-16 Rad/2ms /2-10 914526 000105B5 FF90F5C2 Ms Cycles /2-10 66997 -7277118 dBHz dBHz dBHz dBHz dBHz dBHz dBHz dBHz dBHz dBHz Time Tag Delta Carrier2 4 4 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 2 1 1 1 1 1 1 1 1 1 1 1 0000 24 28 27 27 23 27 24 24 27 29 05 1 00000007 2-10 Units 0 36 40 39 39 35 39 36 36 39 41 5 7 30 RoyalTek GPS Receiver REB-2000/REB-12R Integration Interval Track Loop Iteration 2 0013 2 003F REV-2000 Operational Manual 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)÷2 16 to convert to Hz. The meaning of I.D.5 is described as following table Message ID: Channel: SVID: State: Bit Number: Millisecond Number: Chip Number: Code Phase: Carrier Doppler: Receiver Time Tag: Delta Carrier Phase: Search Count: C/No: Power Loss Count: Phase Loss Count: Integration Interval: Track Loop Iteration: 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. Number of milliseconds of elapsed time since the last received bit(20 ms between bits) Current C/A code symbol being transmitted (range 0 to 1023 chips;1023 chips=1 ms). Fractional chip of the C/A code symbol at the time of sampling(scaled by -16 2 ,=1/65536) The current value of the carrier frequency as maintained by the tracking loops. This is the count of the millisecond interrupts from the start of the receiver (power on) until the measurement sample is taken. The ms interrupts are generated by the receiver clock. The difference between the carrier phase(current) and the carrier 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. This is the number of times the tracking software has completed full satellite signal searche.s 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. The number of times the power detectors 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 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. The following variables from the raw track Calculation of Pseudo-Range data are required for each satellite: Measurements Bit Number (BN) – 50 bits per second The pseudo-range measurement in meters Millisecond Number (MSN) can be determined from the raw track data Chip Number (CN) by solving the following equation: Code Phase (CP) Pseudo-range (PR) = {Received Tine Receiver Time Tag (RTTag) (RT) – Transmit Time (TT)} * C Delta Carrier Phase (DCP) where C = speed of light The following steps are taken to get the psr 31 RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual data and carrier data for each measurement on the correlation interval to improve epoch. precision. 5. 1. 2. 3. Compute the delta range. Computation of initial Receiver If the accumulation time of the Dalta Carrier Time(RT) in seconds. Note-Where the Phase is 1000 ms then the measurement is initial arbitrary value chosen at start valid and can be added to the previous Delta up to make the PR reasonable Carrier Phase to get Accumulated Carrier (i.e.,set equal to TT+70ms) and then Phase data. If the accumulation time of the incriminated by one second for each Delta Carrier Phase is not equal to 1000 ms measurement epoch. then the measurement is not valid and the Computation of Transmit Time (TT) in accumulation time must be restarted to get seconds. Accumulated Carrier Phase data. Calculate Pseudo-range at a common receiver time of the first channel of Response :Software Version the measurement data set. Note-All String – Message I.D.6 channel measurements are NOT Output Rate:Response to polling message taken at the same time. Therefore, all Example: ranges must be extrapolated to a A0A20015 – Start Sequence and Payload common measurement epoch. For Length simplicity, the first channel of each 0606312E322E30444B495431313920534 measurement set is used as the D0000000000-Payload reference to which all other 0382B0B3 – Message Checksum and End measurements are extrapolated. 4. Sequence Extrapolate the pseudo-range based Table 47 Name Message ID Character Software Tracker Data Out Bytes 1 20 Payload Length: 21 Binary(Hex) Scale Example Units 06 1 Scale ASCII(Decimal) Example 6 2 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 32 RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual 0598B0B3 – Message Checksum and End Sequence Table 48 Clock Status Data Message Name Message ID GPS Week GPS TOW Svs Clock Drift Clock Bias Estimated GPS Time Binary(Hex) Bytes Scale Example 1 07 2 03BD 4 *100 02154924 1 08 4 2231 4 7923 4 DAEF Units S Hz ns ms ASCII(Decimal) Example 7 957 /100 349494.12 8 74289 128743715 349493999 Scale 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 49 Name Message ID Channel Sv ID Word [10] Clock Status Data Message Bytes 1 1 1 40 Binary(Hex) Scale Example 08 ASCII(Decimal) Units Scale Example 8 Payload Length:43 bytes per subframe CPU Throughput – Message I.D.9 (6subframes per page, 25 pages Output Rate:1 Hz Almanac) Example:A0A20009 – Start Sequence and Note – Data is logged in ICD format Payload Length (available from www.navcen.uscg.mail) 09003B0011001601E5 – Payload 0151B0B3 – Message Checksum and End Sequence 33 RoyalTek GPS Receiver REB-2000/REB-12R Table 50 REV-2000 Operational Manual CPU Throughput Binary(Hex) Name Bytes Scale Example Message ID 1 09 SegStatMax 2 *186 003B SegStatLat 2 *186 0011 AveTrkTime 2 *186 0016 Last MS 2 01E5 Units Scale ms ms ms ms /186 /186 /186 ASCII(Decimal) Example 9 .3172 .0914 .1183 485 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 Table 51 Name Message ID Ack.I.D. End Sequence Command Acknowledgment Bytes 1 1 Payload Length: Binary(Hex) Scale Example Units 0B 92 Scale ASCII(Decimal) Example 11 146 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 Table 52 Name Message ID N Ack. I.D End Sequence Command N Acknowledgment Bytes 1 1 Binary(Hex) Scale Example 0C 92 Units Scale ASCII(Decimal) Example 12 146 Payload Length:2 bytes Svs in Table 53), Maximum is 12 satellites Visible List – Message I.D.13 Example:A0A2002A – Start Sequence and Output Rate:Updated approximately every Payload Length 2minutes. Note – This is a variable length 0D080700290038090133002C************* message. Only the number of visible ****** - Payload satellites are reported(as define by visible 34 RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual ****B0B3 – Message Checksum and End Table 53 Sequence Visible List Binary(Hex) Scale Example 0D 08 07 0029 0038 Name Bytes Message ID 1 Visible Svs 1 CH 1 –Sv I.D 1 CH 1 –Sv Azimuth 2 CH 1 –Sv 2 Elevation CH 2 –Sv I.D 1 CH 2 –Sv Azimuth 2 CH 2 –Sv 2 Elevation …… 09 0133 002C Units Scale Degrees Degrees ASCII(Decimal) Example 13 8 7 41 56 9 307 44 Degrees Degrees Payload Length:62 bytes(maximum) and Payload Length Almanac Data – Message I.D.14 0E01************* - Payload Output Rate:Response to poll Example Table 54 Name Message ID Sv I.D.(1) Almanac Data[14][2] …. Sv I.D.(32) Almanac Data[14][2] ****B0B3 – Message :A0A203A1 – Start Sequence checksum and End Sequence Visible List Bytes 1 1 28 Binary(Hex) Scale Example 0E 01 1 28 Payload Length: 929 Units Scale ASCII(Decimal) Example 14 1 20 32 bytes(maximum) Set Ephemeris – Message I.D.254 Development Data – Message I.D.255 This command enables the user to upload Output Rate: Receiver generated an ephemeris to the Evaluation unit. Example Note – This feature is not documented in and Payload Length this manual . For information on FF************* - Payload implementation contact SiRF Technology ****B0B3 – Message Checksum and End Inc. Sequence 35 :A0A2**** - Start Sequence RoyalTek GPS Receiver REB-2000/REB-12R Table 55 Name Message ID REV-2000 Operational Manual Visible List Bytes 1 Binary(Hex) Scale Example FF Units Scale ASCII(Decimal) 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. 36 RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual 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 - 3580050 Factory Add : No. 40-10 San Chi Road , Wu Chieh Hsiang I Lan Hsien , Taiwan , R.O.C. Tel : 886 – 3 – 9605959 Fax : 886 – 3 – 9605151 Web Site : www.royaltek.com Customer Service mail : [email protected] 37