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| GPSM001 OEM GPS Receiver Module XE1610-OEMPVT OEM GPS Receiver Reference Design 2.0 GENERAL DESCRIPTION The XE1610-OEMPVT GPS Receiver from RF Solutions is a GPS receiver product which features the revolutionary FirstGPSTM architecture. This complete GPS receiver solution provides high accuracy position and speed performance as well as high sensitivity and tracking capabilities in urban areas. The GPS Receiver comes in a small form factor package. The XE1610OEMPVT delivers major advancements in GPS performance, accuracy, integration, computing power and flexibility. It is designed to simplify the embedded system integration process. The FirstGPS is a mixed hardware/software architecture based on the XE16BB10 advanced channel correlator IC and its companion RF downconverter. KEY FEATURES * * * * * * * * * High sensitivity: to -143 dBm tracking, superior urban performance. Position accuracy: < 5m CEP (50%) without SA (horizontal) Warm Start is under 40 seconds (50%) Hot Start is under 12 seconds (50%) Ultra low power: < 20 mA @ 3.3V full power, 3 additional low power modes Embedded ARM7TDMI Small form factor and low cost solution Ready-to-plug solution, fully autonomous PVT solution. Easily integrated into existing systems On-board RAM for GPS navigation data, on-board Flash memory back-up PPS output Bidirectional NMEA interface Real Time Clock with separate back-up power supply APPLICATIONS * * * * * Automotive Asset management/tracking Palmtop, Laptop, PDA Location Based Services enabled devices Handheld receivers * * * REFERENCE XE1610-OEMPVT 2.0 DS031-2 Jan `04 (c)2003 RF Solutions Ltd, www.rfsolutions.co.uk Tel 01273 898000 Fax 01273 480661 Page 1 GPSM001 OEM GPS Receiver Module FIRSTGPS ARCHITECTURE HIGHLIGHTS INDUSTRY LEADING GPS PERFORMANCE - Builds on high performance FirstGPS core - Satellite signal tracking engine to perform GPS acquisition and tracking functions without CPU intervention - High sensitivity: to -143 dBm tracking, superior urban performance - Position accuracy: < 5m CEP (50%) without SA (horizontal) - Warm Start is under 40 seconds (50%) - Hot Start is under 12 seconds (50%) - Timing output accuracy: +/- 400 ns LOW POWER - Ultra low power integrated circuit design, optimized RF and DSP architectures, < 17mA @ 3.3V tracking/doing fixes - Further power saving thanks to 3 different power down modes o Power Save - RF section and GPS engine turned Off o Stand-by - RF section, GPS engine, and MCU clock turned Off, main power supply On, RTC running o Power down - RF section, GPS engine, and MCU clock turned Off, main power supply Off, RTC running on the back-up supply XE1610-OEMPVT GPS RECEIVER REFERENCE DESIGN HIGHLIGHTS - Embedded AT91 MCU, ARM7TDMI-based - Small form factor - Low cost - Ready-to-plug solution, fully autonomous PVT solution. Easily integrated into existing systems - High signal acquisition & tracking performances - On-board RAM for GPS navigation data. On-board Flash memory is used to back-up data such as the Almanac - PPS output - On-board RTC can be supplied by a separate back-up power supply if the main supply is turned off. - Application software can be customized for high volume applications (Flash memory) FUNCTIONAL BLOCK DIAGRAM ANT Q LPF I LPF XE1610-OEMPVT APPLICATION I Q MCLKI SCLK GPS BASEBAND PROCESSOR RX TX API PVT BOARD INTERFACE RF+ BP FILTER LNA BP FILTER RF- RF DOWNCONVERTER FirstGPS SOFTWARE RTOS Active Antenna TCXO XE1610-OEMPVT DS031-2 Jan `04 (c)2003 RF Solutions Ltd, www.rfsolutions.co.uk Tel 01273 898000 Fax 01273 480661 Page 2 GPSM001 OEM GPS Receiver Module PIN DESCRIPTION PIN 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 NAME GND ON/OFF VCC USPED RXA VRTCBK TXA PPS GND RESETN ALMRDY STY1 STY0 STANDBYN I I I O O I O I I I DESCRIPTION Power and Signal Ground ON / Off command line 3.0 to 3.6 Volts DC Input Power Supply UART Speed Serial Receive Data, Port A, GPS NMEA Data Back-up supply for the RTC Serial Transmit Data, Port A, GPS NMEA Data One Pulse Per Second timing output Power and Signal Ground Manual Reset, Active low Almanac full and up to date, output for customer specific version N.C. for customer specific version N.C. Stand-by (Active Low) DS031-2 Jan `04 (c)2003 RF Solutions Ltd, www.rfsolutions.co.uk Tel 01273 898000 Fax 01273 480661 Page 3 GPSM001 OEM GPS Receiver Module TECHNICAL CHARACTERISTICS SPECIFICATIONS Min. Receiver Correlators/Channels Update Rate Satellite Reacquisition Time HotStart Warm Start Cold Start Tracking Sensitivity Power Consumption (VCC) @ 3.3 V * Active mode, searching & tracking * Power save mode * Stand-by mode * Power down mode Voltage Supply VCC Back Up Voltage Supply VRTCBK Output Protocol Position Accuracy * * Horizontal, SA off DGPS corrected - 400 nanosecond 5 meters CEP (50%) 1 meter 400 nanosecond 3V 1.9 V NMEA 0183, v3.0 -173 dBW 17 mA 2.2 mA 400 uA 18 uA 3.3 V 20 mA 2.5 mA 500 uA 20 uA 3.65 V 3.65 V 1/minute Typ. L1, C/A code 32/8 1/second 1/second 1 second 12 seconds (50%) 40 seconds (50%) 120 seconds (50%) Max. Timing output accuracy PHYSICAL CHARACTERISTICS The XE1610-OEMPVT module is 25 x 30 x 9.5 mm (approx. 1.0" x 1.2" x 0.38"). The operating temperature range is between -40C and +85C PROPOSED MECHANICAL INTERFACE RF Interface Connector Subminiature HFL. Works with 3.0V active antenna Data Interface Connector 16 contact board-to-board flat cable connector The 16 Way PCB mounting flat Flex Socket is available from RF Solutions under part number CON52746. DS031-2 Jan `04 (c)2003 RF Solutions Ltd, www.rfsolutions.co.uk Tel 01273 898000 Fax 01273 480661 Page 4 GPSM001 OEM GPS Receiver Module INTERFACE DEFINITION, PRINCIPLES OF OPERATION DATA INTERFACE VCC - This the main power supply GND - This the power and signal ground VRTCBK - This is the back-up supply for the on-board hardware Real Time Clock All I/Os on the Data Interface are related to VCC and GND levels. ON/OFF - The ON/OFF input pin control whether the GPS engine is turned ON or OFF. If this pin is "high" whenever a reset condition occurs or if it is turned "high" when in operation, then the GPS engine is turned on. If this pin is "low" whenever a reset condition occurs then the GPS engine is not started. If this pin is turned "low" when in operation then the GPS engine is turned off. When ON/OFF is "low", the on/off state can be superseded with the PXEMaRT manufacturer specific NMEA command on RXA, as defined hereafter. This input pin has a pull-up resistor. RXA - Serial Receive data. This input pin has a pull-up resistor. TXA - Serial Transmit data USPED - Hardware Baud rate selection The Serial NMEA data port (lines RXA and TXA) is an asynchronous serial port (UART). Upon reset, if the USPED input pin is "low" the setting for this port is defined by the set A of UART parameters #1 to 4 in the Default Parameters Table *, or if USPED is "high" the setting is defined by the set B. This setting can be modified with the PXEMaPT manufacturer specific NMEA command defined hereafter. This input pin has a pull-up resistor. There is no flow control on the UART. (*) see the Default Settings section below PPS - The PPS output pin is Pulse Per Second highly accurate timing signal generated by the on-board GPS baseband processor. The PPS signal is available only when the receiver does position fixes. Otherwise its output level is "low". After a reset condition, the setting for this port is defined in the Default Parameters Table *, parameter #12. This setting can be modified with the PXEMaPS manufacturer specific NMEA command defined hereafter. (*) see the Default Settings section below 1 second ~ 83 ms. RESETN - Manual Reset input pin. The receiver has 2 reset conditions: first, on power-on, thanks to an on-board Power On Reset circuitry; and second an external reset when the RESETN pin is "low". This input pin has a pull-up resistor. ALMRDY - When in Active mode, this output indicates the on-board Almanac status. Upon start up and whenever the Almanac data is tested invalid or not up-to-date the output level is "low. If test is valid and up-to-date the output level is "high". STANDBYN - This input sets the receiver in Stand-by mode when its level is "low". Otherwise the receiver is either in Active or Power Save modes. See below, under Operating modes for details. This input pin has a pull-up resistor. DS031-2 Jan `04 (c)2003 RF Solutions Ltd, www.rfsolutions.co.uk Tel 01273 898000 Fax 01273 480661 Page 5 GPSM001 OEM GPS Receiver Module OPERATING MODES The receiver has 4 main operating modes, as summarized in the table below Mode Active Mode Power Save Mode Description Receiver is running, doing acquisition, tracking, position fixes GPS receiver functions are turned OFF, MCU in idle mode, MCU clock is running, RTC is running GPS receiver functions are turned OFF, MCU clock is stopped, RTC is running GPS receiver functions are turned OFF, MCU clock is stopped, RTC is running on the Back-up supply VCC pin Powered Powered ON/Off pin High Low (or thru NMEA command) Low (or thru NMEA command) Low STANDBY N pin High High Current cons. max 20 mA 3 mA Stand-by Mode Powered Low <500 uA Power Down Mode No power Low <20 uA Active "LP" NMEA com Any valid NMEA com ON/OFF "high" ON/OFF "low" STANDBYN "high" if ON/OFF was "high" Power save STANDBYN "low" STANDBYN "high" if ON/OFF was "low" Stand-by VCC switched Off ON/OFF "low" VCC switched On ON/OFF "low" Power down Figure 1 Switching between operating modes Notes on TTFF / start-up condition: * When switching from Power Save or Stand-by to Active mode, the start up condition will be o Hot start if Almanac is valid, Ephemeris is valid (less than 4 hours old), approximate position is known and RTC is valid o Warm start if Almanac is valid, Ephemeris is not valid, approximate position is known and RTC is valid o Cold start otherwise * When switching from Power Down to Stand-by then to Active mode, the start up condition will be o Warm start if the Almanac and approximate position saved in Flash are valid, and RTC is valid o Cold start otherwise DS031-2 Jan `04 (c)2003 RF Solutions Ltd, www.rfsolutions.co.uk Tel 01273 898000 Fax 01273 480661 Page 6 GPSM001 OEM GPS Receiver Module NMEA STANDARD MESSAGE SET SPECIFICATION The XE1610-OEMPVT supports NMEA-0183. Brief descriptions of the output messages are provided below. NMEA Standard Commands RF Solutions receivers use the standard output messages listed in Table 1: NMEA GGA GLL GSA GSV RMC VTG ZDA Message 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 Time & Date Table 1. NMEA-0183 Messages After a reset condition occurs, as defined above, the default setting for NMEA commands is GGA, GSA, GSV and RMC, with update every second. This setting can be modified with the PXEMaNM manufacturer specific command defined hereafter. GGA --Global Positioning System Fixed Data Description: This message reports the global positioning system fixed data, as shown in Table 2. Name Message ID UTC Position Latitude N/S Indicator Longitude E/W Indicator Position Fix Indicator Satellites Used HDOP MSL Altitude1 Units Geoid Separation1 Units Age of Diff. Corr. Diff. Ref. Station ID Checksum 1 Example $GPGGA 161229.487 3723.2475 N 12158.3416 W 1 07 1.0 9.0 M M 0000 *18 Units Description GGA protocol header hhmmss.sss ddmm.mmmm N = north or S = south dddmm.mmmm E = east or W = west See xxx0 Range 0 to 12 Horizontal Dilution of Precision Meters Meters Meters Meters Second Null fields when DGPS is not used End of message termination does not support geoid corrections. Values are WGS-84 ellipsoid heights. Table 2. GGA Data Format 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 Table 3. Position Fix Indicator Example: The values reported in this example are interpreted as shown in Table 2: $GPGGA,161229.487,3723.2475,N,12158.3416,W,1,07, 1.0,9.0,M, ,M, ,0000*18 DS031-2 Jan `04 (c)2003 RF Solutions Ltd, www.rfsolutions.co.uk Tel 01273 898000 Fax 01273 480661 Page 7 GPSM001 OEM GPS Receiver Module GLL--Geographic Position - Latitude/Longitude Description: This message reports latitude and longitude geographic positioning data, as described in Table 4. Name Message ID Latitude N/S Indicator Longitude E/W Indicator UTC Position Status Checksum Table 4. GLL Data Format Example: The values reported in this example are interpreted as shown in Table 4: $GPGLL,3723.2475,N,12158.3416,W,161229.487,A*2C GSA--GNSS DOP and Active Satellites Description: This message reports the satellites used in the navigation solution reported by the GGA message. GSA is described in Table 5. Name Message ID Mode 1 Mode 2 Satellite Used 1 Satellite Used 1 ... Satellite Used 1 PDOP HDOP VDOP Checksum Table 5. GSA Data Format Value M A Description Manual - forced to operate in 2D or 3D mode Automatic - allowed to automatically switch 2D/3D Table 6. Mode 1 Value 1 2 3 Description Fix not available 2D 3D Table 7. Mode 2 Example: The values reported in this example are interpreted as shown in Table 5: $GPGSA,A,3,07,02,26,27,09,04,15, , , , , , 1.8,1.0,1.5*33 DS031-2 Jan `04 (c)2003 RF Solutions Ltd, www.rfsolutions.co.uk Tel 01273 898000 Fax 01273 480661 Page 8 GPSM001 OEM GPS Receiver Module GSV--GNSS Satellites in View Description: This message reports the satellites in view, their ID numbers, elevation, azimuth, and SNR values (up to four satellites per message). GSV is described in Table 8. Name Message ID Number of Messages1 Message Number 1 Satellites in View Satellite ID Elevation Example $GPGSV 2 1 07 07 79 Units Description GSV protocol header Range 1 to 3 Range 1 to 3 Channel 1 (Range 1 to 32) Channel 1 (Maximum 90) degrees Azimuth 048 degrees Channel 1 (True, Range 0 to 359) SNR (C/No) 42 dBHz Range 0 to 99, null when not tracking ... ... Satellite ID 27 Channel 4 (Range 1 to 32) Elevation 27 degrees Channel 4 (Maximum 90) Azimuth 138 degrees Channel 4 (True, Range 0 to 359) SNR (C/No) 42 dBHz Range 0 to 99, null when not tracking Checksum *71 Table 8. GGA Data Format Example: The values reported in this example are interpreted as shown in Table 8. Two messages are require to complete the data transmission. $GPGSV,2,1,07,07,79,048,42,02,51,062,43,26,36,256, 42,27,27,138,42*71 $GPGSV,2,2,07,09,23,313,42,04,19,159,41,15,12,041, 42*41 RMC--Recommended Minimum Specific GNSS Data Description: This message reports the time, date, position, course, and speed from the receiver's navigation solution. RMC is described in Table 9. Name Message ID UTC Position Example $GPRMC 161229.487 Units Description RMC protocol header Hh mm ss.sss Status A A = data valid or V = data not valid Latitude 3723.2475 Dd mm.mmmm N/S Indicator N N = north or S = south Longitude 12158.3416 Ddd mm.mmmm E/W Indicator W E = east or W = west Speed Over Ground 0.13 knots Course Over Ground 309.62 degrees True Date 120598 Dd mm yy degrees E = east or W = west Magnetic Variation1 Checksum *10 Table 9. RMC Data Format Example: The values reported in this example are interpreted as shown in Table 9: $GPRMC,161229.487,A,3723.2475,N,12158.3416,W,0.13, 309.62,120598, ,*10 DS031-2 Jan `04 (c)2003 RF Solutions Ltd, www.rfsolutions.co.uk Tel 01273 898000 Fax 01273 480661 Page 9 GPSM001 OEM GPS Receiver Module VTG--Course Over Ground and Ground Speed Description: This message reports current ground course and speed data. Course is reported relative to true north only. The VTG message is defined in Table 10. Name Example Units Message ID $GPVTG Course 309.62 degrees Reference T Course degrees Reference M Speed 0.13 knots Units N Speed 0.2 km/hr Units K Checksum *6E Table 10. VTG Data Format Example: The values reported in this example are interpreted as shown in Table 10: $GPVTG,309.62,T, ,M,0.13,N,0.2,K*6E ZDA--Time & Date Description: This message reports current time and date. The ZDA message is defined in Table 11. Name Message ID Hour, Min, Sec, Sub Sec Day Month Year Local Zone Hours Local Zone Minutes Table 11 ZDA Data Format Example: The values reported in this example are interpreted as shown in Table 10: $GPZDA,114523.62,12,04,2001,10,34*6E NMEA SPECIFIC COMMANDS The NMEA 0183 Standard dictates that proprietary NMEA commands have the following structure: $Paaaxxxxxxxxxxxxx*hh where aaa - mnemonic code, XEM in our case; xxxxxxxxx...- data; hh - command checksum Two types of input commands are defined: query and set. Query commands request certain information from the receiver. Set commands allow the user to configure the receiver with certain configuration parameters or force the receiver to perform a specific action. For each type of input command, a corresponding output response command is defined. For a query command, the response command contains requested data. For a set command, the response command contains the status of the action requested in the set command. Taking these aspects into account, the following is the general structure of the specific NMEA command: DS031-2 Jan `04 (c)2003 RF Solutions Ltd, www.rfsolutions.co.uk Tel 01273 898000 Fax 01273 480661 Page 10 GPSM001 OEM GPS Receiver Module $PXEMmaa,x1,x2,x3,x4,....,xN*hh where m - command type: `Q' for `query', `S' for `set', `R' for `response'; aa - proprietary command identifier (see below); x1...xN - data parameters (only for set and query response commands); hh - command checksum NOTE: Each of the data parameters must be preceded with a comma, except for the aa command identifier, and the checksum which is preceded with a checksum delimiter character `*'. * QUERY command: to send a query command, no data fields are transmitted. The following format is used: $PXEMQaa*hh * RESPONSE command to QUERY: for a query command, a response command with all fields is transmitted. The following format is used: $PXEMRaa,x1,x2,x3,x4,....,xN*hh * SET command: to send a set command, x1...xN must contain valid values. The following format is used: $PXEMSaa,x1,x2,x3,x4,....,xN*hh * RESPONSE command to SET: for a set command, a status response command is transmitted. The following format is used: $PXEMRaa,s*hh where s is the status of the requested action: `A' if the action was successful; `V' otherwise. The following proprietary NMEA command identifiers are implemented: DI - Diagnostic Message This command outputs a diagnostic string. It is used to report various error conditions. This is a response-only command. $PXEMRDI,ccccccc*hh where ccccccc is a diagnostic string up to 50 characters NM - Command Mask and Automatic Output Rate This command configures the application to automatically output standard NMEA commands at a specified time interval. $PXEMaNM,xxxx,xx*hh Name Message ID Mask Rate Table 12 NM Data Format Notes: xxxx is a hexadecimal value representing a 2-byte bit-mask where a specific bit sets or clears automatic output of a particular NMEA command according to the table below. The mask is derived by combining all bits which represent the NMEA commands which will be automatically output. For example, to automatically output GGA, GSA, ZDA, and RMC, the bits 0, 4, 5, and 8 are set to 1 in a 2-byte mask, resulting in a hex value 0x131 (0x1+0x10+0x20+0x100). This value is sent as an ASCII string `0131' in the xxxx field of the NM command. NMEA Command Bit# xxxx Field value GGA GLL VTG DS031-2 Jan `04 0 1 2 0001 0002 0004 Page 11 (c)2003 RF Solutions Ltd, www.rfsolutions.co.uk Tel 01273 898000 Fax 01273 480661 GPSM001 OEM GPS Receiver Module GSA GSV ZDA RMC 4 3 5 8 0010 0008 0020 0100 Table 13 Possible MASK field values for the NM command Example: $PXEMSNM,0008,01*6E (set) $PXEMRNM,a*6E (response to set: a - action status: A = success; V = failure) PS - Pulse-Per-Second Configuration This command sets the pulse-per-second (PPS) output on or off. This is a set-only command. $PXEMaPS,x*hh Name Message ID On/Off Table 14 PS Data Format (set) (response to set: a - action status: A = success; V = failure) PT - Port Configuration This command configures the application serial port communication parameters. $PXEMaPT,xxxxxx,x,a,x*hh Name Message ID Baud rate Data length Parity Stop bit Table 15 PT Data Format Example: $PXEMSPT,009600,8,N,1*6E (set) $PXEMRPT,a*6E (response to set: a - action status: A = success; V = failure) RT - Reset the Receiver / Start-Stop FirstGPS This command forces the receiver to perform a software reset. It also allows the user to start up and shut down the FirstGPS library without performing a full software reset. This is a set-only command. $PXEMaRT,a*hh Name Message ID Command Example $PXEMaRT S Units Description Proprietary RT protocol header, a-mode (S = set; R = response) C = cold software reset W = warm software reset H = hot software reset DS031-2 Jan `04 (c)2003 RF Solutions Ltd, www.rfsolutions.co.uk Tel 01273 898000 Fax 01273 480661 Page 12 GPSM001 OEM GPS Receiver Module S = start the FirstGPS library X = shut down the FirstGPS library End of message termination Table 16 RT Data Format (set) (response to set: a - action status: A = success; V = failure) DS031-2 Jan `04 (c)2003 RF Solutions Ltd, www.rfsolutions.co.uk Tel 01273 898000 Fax 01273 480661 Page 13 GPSM001 OEM GPS Receiver Module VR - Version Information This command obtains software versions for the measurement platform (MPM) firmware, FirstGPS API, FirstGPS Library, native RTOS, and native processor (CPU). This is a query-only command. Note: A complete VR command returns only the version of a particular product component one at a time (either MPM firmware, API, library, RTOS or CPU). The command must include the component type to obtain the version for any given query. $PXEMaVR,a,cccccc,xx,xx,xx,xx,xx,xxxx*hh Name Message ID Component type Example $PXEMaVR A Units Description Proprietary RT protocol header, a-mode (Q = query; R = response) M = measurement platform (MPM) firmware A = FirstGPS API N = FirstGPS Library R = native RTOS U = native processor (CPU) V = Software build variable length field; may be up to 17 characters long Major version number (00 to 99) Minor version number (00 to 99) Beta version number (00 to 99) Month of the release (01 to 12) Day of the release (01 to 31) Year of the release End of message termination Name Maj version Min version Beta version Month Day Year abcdef 04 02 03 10 27 2002 Table 17 VR Data Format Example: $PXEMQVR,R*6E (query) $PXEMRVR,R,nucleus,04,03,03,10,27,2000*6E (response to query) GS - Geodetic System Configuration This command sets the geodetic system used to compute the geographic positioning data. $PXEMaGS,ee,xxxx.xxxxxx,yyyy.yyyyyy,zzzz.zzzzzz*hh Name Message ID Ellipsoid Delta X Delta Y Delta Z m m m Table 18 GS Data Format Index 00 01 02 03 04 05 06 07 Ellipsoid Name Airy 1830 Australian National & South American 1969 Bessel 1841 Ethiopia Bessel 1841 Namibia Clarke 1866 Clarke 1880 Everest Brunei and E. Malaysia Everest India 1830 Semi-Major Axis 6377563.396 6378160 6377397.155 6377483.865 6378206.4 6378249.145 6377298.556 6377276.345 Flattening 299.3249646 298.25 299.1528128 299.1528128 294.9786982 293.465 300.8017 300.8017 DS031-2 Jan `04 (c)2003 RF Solutions Ltd, www.rfsolutions.co.uk Tel 01273 898000 Fax 01273 480661 Page 14 GPSM001 OEM GPS Receiver Module 08 09 10 11 12 13 14 15 16 17 18 19 20 Everest India 1956 Everest Pakistan Everest W. Malaysia and Singapore 1948 Geodetic Reference System 1980 Helmert 1906 Hough 1960 Indonesian 1974 International 1924 & Hayford Krassovsky 1940 Modified Airy Modified Fischer 1960 WGS 1972 WGS 1984 6377301.243 6377309.613 6377304.063 6378137 6378200 6378270 6378160 6378388 6378245 6377340.189 6378155 6378135 6378137 300.8017 300.8017 300.8017 298.257222101 298.3 297 298.247 297 298.3 299.3249646 298.3 298.26 298.257223563 Table 19 Ellipsoid models Example: $PXEMSGS,12,-0.148,0.096,0.122*44 (set) $PXEMRGS,a,12,-0.148,0.096,0.122*08 (response to set: a - action status: A = success; V = failure) see also Exhibit A for further examples LP - Power Save Mode This command sets the receiver in Power Save mode. To go back to the Active mode, users should send any valid NMEA command to the receiver. Do not toggle the ON/OFF pin to go to the Active Mode if a NMEA LP command is used to switch to the Power Save mode $PXEMaLP*hh Name Message ID Table 20 LP Data format Example: $PXEMSLP*4F (set) $PXEMRLP,a*23 (response to set: a - action status: A = success; V = failure) TR - Transparent Mode With this type of command an API function call as defined in the Standard and Advanced API Function Calls documents are passed through the NMEA interface. This can be a query, set, and response type of command. $PXEMaTR,c..c,x..xx, .., x..x*hh Example: $PXEMQTR,SQCS*6E $PXEMRTR,SQCS,NAV_OK,GPS Time of Week,Channel status for satellite 1, ... Channel status for satellite n*4F (response to the channel status query) See Exhibit B for detailed information on the API function calls DS031-2 Jan `04 (c)2003 RF Solutions Ltd, www.rfsolutions.co.uk Tel 01273 898000 Fax 01273 480661 Page 15 GPSM001 OEM GPS Receiver Module GPS DATA BACK-UP The almanac data is the information transmitted by each satellite on the orbits and state (health) of the entire constellation. The ephemeris is a list of accurate positions or locations of celestial objects as a function of time. So, the availability of almanac and ephemeris data, in addition to time and approximate position, allows the GPS receiver to rapidly acquire satellites as soon as it is turned on. There are 3 possible start conditions when the receiver is turned on: a) the Cold Start, that is the start-up sequence of the receiver when no initialization data is available; b) the Warm Start, that is the start-up sequence of the receiver when the last position, the time and the almanac information are available; and c) the Hot Start, that is the start-up sequence of the receiver when the ephemeris, the last position, the time and the almanac information are available. In the XE1610-OEMPVT design the GPS data structure, including almanac, ephemeris and last position fix, is copied into the on-board Flash memory. The data is stored the first time the almanac is complete and up-to-date, then every D days, where D is defined in the Default Parameters Table *, parameter #13. Alternatively, the Flash can be programmed with valid information during the manufacturing process. This is to avoid downloading it from satellites, which takes approx. 12.5 minutes. Then, as long as the main power supply remains turned On, the GPS data structure is kept in RAM. However, data in RAM is not maintained if the main supply is switched Off (or in case of a power failure). In this case, upon power up, this data is uploaded from the Flash back-up memory into the GPS data RAM. Provided this data is valid - 6 months for the Almanac, 4 hours for ephemeris - the TTFF will be shorter than Cold Start TTFF, since the receiver will be in a Warm or Hot start condition. (*) see the Default Settings section below Note: with the current Flash technology embedded in this design it takes approx. 20 seconds to erase and update the Flash sectors where the GPS data structure is stored. REAL TIME CLOCK The receiver board has a hardware Real Time Clock chip that operates independently from the MCU and the GPS function. When the GPS receiver is active and as soon as the GPS time becomes available the RTC is synchronized with GPS time. Then, as long as GPS time is available, the RTC is synchronized every 60 minutes. If the main power supply VCC is turned OFF and provided the VRTCBK supply is available, the RTC operates and keeps the RTC information up to date. By doing so, when both the main VCC supply and the GPS receiver are turned ON again the time information will be immediately available. DS031-2 Jan `04 (c)2003 RF Solutions Ltd, www.rfsolutions.co.uk Tel 01273 898000 Fax 01273 480661 Page 16 GPSM001 OEM GPS Receiver Module DEFAULT SETTINGS A number of system settings are stored in one particular area of the embedded Flash. This is the Default Parameters Table, whose content is listed below. Some of these settings can be modified by sending a proprietary NMEA command to the receiver, as defined previously. # 1 2 3 4 5 6 7 8 9 10 11 12 13 Default parameter Serial Port Baudrate (A / B) Serial Port Data bits (A / B) Serial Port Parity bits (A / B) Serial Port Stop bits (A / B) NMEA output displayed NMEA display order NMEA refresh rate Geodetic System Ellipsoid Geodetic System Delta X Geodetic System Delta Y Geodetic System Delta Z PPS output BBRAM Update rate Range values 2400 / 4800 / 9600 / 19200 / 38400 / Integer 4800 / 9600 57600 Integer 8/8 7/8 Character None / None None / Odd / Even Integer 1/1 1/2 GGA / GLL / GSA / GSV / RMC / VTG NMEA Syntax GGA / GSA / GSV / RMC / ZDA ZDA / GGA / GLL / VTG / Any valid combination Integer GSA / GSV / RMC (not implemented yet) Integer 1 second 1 to 99 seconds Integer 20 00 to 20 Real 0 -9999.99999 to +9999.99999 Real 0 -9999.99999 to +9999.99999 Real 0 -9999.99999 to +9999.99999 Boolean Enabled Disabled Integer 6 days 1 to 31days 2D only / 3D only / Auto 2D/3D Integer Auto 2D/3D (not implemented yet) Land / Sea / Air / Stationary / Integer Automobile Automobile Real 7.9e-6 Depends on the Oscillator Integer 5 degrees 0 to 10 degrees Integer 2 2 to 6 Integer 12 6 to 20 Integer 6 6 to 8 -PI/2 to PI/2 Real TBD by Customer (not implemented yet) -PI to PI Real TBD by Customer (not implemented yet) Real TBD by Customer (not implemented yet) Real TBD by Customer (not implemented yet) Data Type Default value 14 Receiver Mode 15 Dynamic Code 16 17 18 19 20 Max Oscillator Offset Elevation Mask Signal Level Mask DOP Mask PDOP Switch (Latitude) (Longitude) (Altitude) (Accuracy) 21 Last Position 22 Last Position 23 Last Position 24 Last Position DS031-2 Jan `04 (c)2003 RF Solutions Ltd, www.rfsolutions.co.uk Tel 01273 898000 Fax 01273 480661 Page 17 GPSM001 OEM GPS Receiver Module GPS ENGINE CONFIGURATION In addition, there are some settings for the embedded FirstGPS navigation software that cannot be modified by the users Receiver configuration DGPS Mode Filter configuration Kalman Filter Offset configuration Offset Window Application settings Number of channels Week epoch 8 1024 the offset number of 1024 week periods since 6 January 1980. Setting to 1024 includes all dates between August 22, 1999 and March 2019. 0 ppm -1 ppm DGPS Off APPLICATION INFORMATION ACTIVE ANTENNA For proper operation, the XE1610-OEMPVT receiver should be operated with an active GPS antenna that has the following characteristics Power supply voltage Frequency range LNA Gain LNA NF Antenna and LNA total Gain 2.7 - 3.6 V 1,575.42+/-1.023MHz 27 dB at 3.0 V 1.1 dB at 3.0 V 25 dBi Max at 3.0 V DS031-2 Jan `04 (c)2003 RF Solutions Ltd, www.rfsolutions.co.uk Tel 01273 898000 Fax 01273 480661 Page 18 GPSM001 OEM GPS Receiver Module TABLE A The following table illustrates datums for some cities around the world. Country Wales Australia Japan Namibia Cuba Senegal Brunei Thailand India Pakistan Singapore Russia Egypt Marshall Island Indonesia France Somalia City Cardiff Sydney Tokyo Windhoek Havana Dakar Bandar S. B. Bangkok Calcutta Karachi Singapore Moscow Cairo Majuro Djakarta Paris Mogadiscio NNEA Syntax $PXEMSGS,00,375,-111,431*78 $PXEMSGS,01,-134,-48,149*40 $PXEMSGS,02,-148,507,685*5C $PXEMSGS,03,616,-97,251*60 $PXEMSGS,04,-3,142,183*50 $PXEMSGS,05,-128,-18,224*44 $PXEMSGS,06,-679,669,-48*4C $PXEMSGS,07,210,814,289*7D $PXEMSGS,08,295,736,257*73 $PXEMSGS,09,283,682,231*7B $PXEMSGS,10,-11,851,5*62 $PXEMSGS,11,1.08,0.27,0.9*6C $PXEMSGS,12,-130,110,-13*44 $PXEMSGS,13,102,52,-38*57 $PXEMSGS,14,-24,-15,5*75 $PXEMSGS,15,-87,-96,-120*5D $PXEMSGS,16,-43,-163,45*72 WGS-84 Datum 51 23' N 3 20' W 100.0 m 33 52' S 151 12' E 100.0 m 35 41' N 139 46' E 100.0 m 22 34' S 17 5' E 100.0 m 23 08' N 82 21' W 100.0 m 14 42' N 17 29' W 100.0 m 4 56' N 114 50' E 100.0 m 13 44' N 100 30' E 100.0 m 22 32' N 88 20' E 100.0 m 24 48' N 66 59' E 100.0 m 1 18' N 103 50' E 100.0 m 55 46' N 37 40' E 100.0 m 29 52' N 31 20' E 100.0 m 41 32' N 12 18' E 100.0 m 6 11' S 106 50' E 100.0 m 48 49' N 2 29' E 100.0 m 2 2' N 49 19' E Local Datum 51 22' 58.454" N 3 19' 55.396" W 51.497 m 33 52' 5.738" S 151 11' 55.851" E 81.918 m 35 40' 48.239" N 139 46' 11.591" E 59.959 m 22 33' 58.644" S 17 5' 3.088" E 77.040 m 23 7' 58.302" N 82 21' 0.559" W 125.109 m 14 41' 57.554" N 17 28' 58.140" W 66.314 m 4 56' 3.033" N 114 49' 49.116" E 52.227 m 13 43' 54.002" N 100 30' 11.811" E 141.421 m 22 31' 57.337" N 88 20' 9.571" E 122.930 m 24 47' 58.714" N 66 58' 59.779" E 128.006 m 1 18' 0.179" N 103 50' 6.237" E 103.999 m 55 46' 0.010" N 37 39' 59.865" E 99.446 m 29 51' 59.415" N 31 19' 53.980" E 89.458 m 41 32' 6.227" N 12 17' 58.745" E -50.775 m 6 11' 0.141" S 106 49' 59.111" E 84.912 m 48 49' 3.271" N 2 29' 4.516" E 50.964 m 2 1' 58.354" N 49 19' 2.383" E Page 19 DS031-2 Jan `04 (c)2003 RF Solutions Ltd, www.rfsolutions.co.uk Tel 01273 898000 Fax 01273 480661 GPSM001 OEM GPS Receiver Module 100.0 m 53 22' N 6 21' W 100.0 m 1 18' N 103 50' E 100.0 m 53 22' N 6 21' W 100.0 m 53 22' N 6 21' W 100.0 m 141.943 m 53 21' 59.163" N 6 20' 56.468" W 47.599 m 1 18' 0.833" N 103 50' 0.142" E 93.969 m 53 21' 59.906" N 6 21' 0.554" W 96.856 m 53 22' N 6 21' W 100.0 m Ireland Singapore Ireland Ireland Dublin Singapore Dublin Dublin $PXEMSGS,17,506,-122,611*58 $PXEMSGS,18,7,-10,26*51 $PXEMSGS,19,0,0,4.5*60 $PXEMSGS,20,0,0,0*75 Table B The Standard and Advanced API Function Calls documents as well as the list and description of parameters for the $PXEMaTR proprietary NMEA command are passed to customers on request and upon approval by RF Solutions. For more information or general enquiries, please contact R. F. Solutions Ltd., Unit 21, Cliffe Industrial Estate, South Street, Lewes, E Sussex, BN8 6JL. England Tel +44 (0)1273 898 000 Email sales@rfsolutions.co.uk Fax +44 (0)1273 480 661 http://www.rfsolutions.co.uk RF Solutions is a member of the Low Power Radio Association All Trademarks acknowledged and remain the property of the respected owners Information contained in this document is believed to be accurate, however no representation or warranty is given and R.F. Solutions Ltd. assumes no liability with respect to the accuracy of such information. Use of R.F.Solutions as critical components in life support systems is not authorised except with express written approval from R.F.Solutions Ltd. DS031-2 Jan `04 (c)2003 RF Solutions Ltd, www.rfsolutions.co.uk Tel 01273 898000 Fax 01273 480661 Page 20 |
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