GPSM001 OEM GPS Receiver Module XE1610-OEMPVT OEM GPS Receiver Reference Design 2.0 GENERAL DESCRIPTION KEY FEATURES The XE1610-OEMPVT GPS Receiver from RF • High sensitivity: to -143 dBm tracking, superior Solutions is a GPS receiver product which features the urban performance. revolutionary FirstGPS™ architecture. This complete • Position accuracy: < 5m CEP (50%) without SA GPS receiver solution provides high accuracy position (horizontal) and speed performance as well as high sensitivity and tracking capabilities in urban areas. The GPS Receiver • Warm Start is under 40 seconds (50%) comes in a small form factor package. The XE1610- • Hot Start is under 12 seconds (50%) OEMPVT delivers major advancements in GPS performance, accuracy, integration, computing power • Ultra low power: < 20 mA @ 3.3V full power, 3 and flexibility. It is designed to simplify the embedded additional low power modes system integration process. • Embedded ARM7TDMI The FirstGPS is a mixed hardware/software • Small form factor and low cost solution architecture based on the XE16BB10 advanced channel correlator IC and its companion RF down- • Ready-to-plug solution, fully autonomous PVT converter. solution. Easily integrated into existing systems • On-board RAM for GPS navigation data, on-board Flash memory back-up APPLICATIONS • Automotive • PPS output • Asset management/tracking • Bidirectional NMEA interface • Palmtop, Laptop, PDA • Location Based Services enabled devices • Real Time Clock with separate back-up power • Handheld receivers supply REFERENCE XE1610-OEMPVT 2.0 DS031-2 Jan ‘04 ©2003 RF Solutions Ltd, www.rfsolutions.co.uk Page 1 Tel 01273 898000 Fax 01273 480661 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 Power down - RF section, GPS engine, and MCU clock turned Off, main power supply Off, RTC o 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 AN ANT T Q L Q LP PF F I LP I LPF F X XE E16 1610- 10-OEM OEMP PV VT T AP APPLIC PLICAT ATION ION PV PVT T II BOAR BOARD D RF+ RF+ RF RF Q Q GPS GPS RX RX AP APII INT INTE ERFACE RFACE BP BP BP BP DO DOW WN N- - B BASEBA ASEBAN ND D MCL MCLK KI I TX TX FILT FILTER ER FILT FILTER ER RF- RF- CONV CONVE ER RT TE ER R P PR ROC OCESSO ESSOR R SC SCLK LK LN LNA A FirstGPS FirstGPS SO SOFT FTW WA AR RE E Act Actiiv ve e A An nten tenn na a TC TCX XO O RT RTOS OS XE XE1 1610-OEMPVT 610-OEMPVT DS031-2 Jan ‘04 ©2003 RF Solutions Ltd, www.rfsolutions.co.uk Page 2 Tel 01273 898000 Fax 01273 480661 Tel 01273 898000 Fax 01273 480661 GPSM001 OEM GPS Receiver Module PIN DESCRIPTION PIN NAME DESCRIPTION 1 GND Power and Signal Ground 2 ON/OFF I ON / Off command line 3 VCC 3.0 to 3.6 Volts DC Input Power Supply 4 USPED I UART Speed 5 RXA I Serial Receive Data, Port A, GPS NMEA Data 6 VRTCBK Back-up supply for the RTC 7 TXA O Serial Transmit Data, Port A, GPS NMEA Data 8 PPS O One Pulse Per Second timing output 9 GND Power and Signal Ground 10 RESETN I Manual Reset, Active low 11 ALMRDY O Almanac full and up to date, output 12 STY1 I for customer specific version 13 N.C. 14 STY0 I for customer specific version 15 N.C. 16 STANDBYN I Stand-by (Active Low) DS031-2 Jan ‘04 ©2003 RF Solutions Ltd, www.rfsolutions.co.uk Page 3 Tel 01273 898000 Fax 01273 480661 Tel 01273 898000 Fax 01273 480661 GPSM001 OEM GPS Receiver Module TECHNICAL CHARACTERISTICS SPECIFICATIONS Min. Typ. Max. Receiver L1, C/A code Correlators/Channels 32/8 Update Rate 1/minute 1/second 1/second Satellite Reacquisition Time 1 second HotStart 12 seconds (50%) Warm Start 40 seconds (50%) Cold Start 120 seconds (50%) Tracking Sensitivity -173 dBW Power Consumption (VCC) @ 3.3 V 17 mA 20 mA • Active mode, searching & tracking 2.2 mA 2.5 mA • Power save mode 400 uA 500 uA • Stand-by mode 18 uA 20 uA • Power down mode Voltage Supply VCC 3 V 3.3 V 3.65 V Back Up Voltage Supply VRTCBK 1.9 V 3.65 V Output Protocol NMEA 0183, v3.0 Position Accuracy 5 meters CEP (50%) • Horizontal, SA off 1 meter • DGPS corrected Timing output accuracy - 400 nanosecond 400 nanosecond 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 ©2003 RF Solutions Ltd, www.rfsolutions.co.uk Page 4 Tel 01273 898000 Fax 01273 480661 Tel 01273 898000 Fax 01273 480661 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 ©2003 RF Solutions Ltd, www.rfsolutions.co.uk Page 5 Tel 01273 898000 Fax 01273 480661 Tel 01273 898000 Fax 01273 480661 GPSM001 OEM GPS Receiver Module OPERATING MODES The receiver has 4 main operating modes, as summarized in the table below Mode Description VCC pin ON/Off pin STANDBY Current N pin cons. max Active Mode Receiver is running, doing acquisition, Powered High High 20 mA tracking, position fixes Power Save Mode GPS receiver functions are turned OFF, Powered Low (or thru High 3 mA MCU in idle mode, MCU clock is NMEA running, RTC is running command) Stand-by Mode GPS receiver functions are turned OFF, Powered Low (or thru Low <500 uA MCU clock is stopped, RTC is running NMEA command) Power Down Mode GPS receiver functions are turned OFF, No power Low Low <20 uA MCU clock is stopped, RTC is running on the Back-up supply Active Any valid “LP” NMEA NMEA com com ON/OFF STANDBYN “high” if ON/OFF was “high” “high” ON/OFF “low” STANDBYN “low” Power save Stand-by STANDBYN “high” if ON/OFF was “low” VCC switched On ON/OFF “low” VCC switched Off 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 Hot start if Almanac is valid, Ephemeris is valid (less than 4 hours old), approximate position is known o 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 ©2003 RF Solutions Ltd, www.rfsolutions.co.uk Page 6 Tel 01273 898000 Fax 01273 480661 Tel 01273 898000 Fax 01273 480661 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 Message Description GGA Global positioning system fixed data GLL Geographic position – latitude/longitude GSA GNSS DOP and active satellites GSV GNSS satellites in view RMC Recommended minimum specific GNSS data VTG Course over ground and ground speed ZDA 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 Example Units Description Message ID $GPGGA GGA protocol header UTC Position 161229.487 hhmmss.sss Latitude 3723.2475 ddmm.mmmm N/S Indicator N N = north or S = south Longitude 12158.3416 dddmm.mmmm E/W Indicator W E = east or W = west Position Fix Indicator 1 See xxx0 Satellites Used 07 Range 0 to 12 HDOP 1.0 Horizontal Dilution of Precision 1 MSL Altitude 9.0 Meters Units M Meters 1 Geoid Separation Meters Units M Meters Age of Diff. Corr. Second Null fields when DGPS is not used Diff. Ref. Station ID 0000 Checksum *18 End of message termination 1 does not support geoid corrections. Values are WGS-84 ellipsoid heights. Table 2. GGA Data Format Value Description 0 Fix not available or invalid 1 GPS SPS Mode, fix valid 2 Differential GPS, SPS Mode, fix valid 3 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 ©2003 RF Solutions Ltd, www.rfsolutions.co.uk Page 7 Tel 01273 898000 Fax 01273 480661 Tel 01273 898000 Fax 01273 480661 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 Example Description Message ID $GPGLL GLL protocol header 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 UTC Position 161229.487 hh mm ss.sss Status A A = data valid or V = data not valid Checksum *2C End of message termination 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 Example Description Message ID $GPGSA GSA protocol header Mode 1 A See Table 6 Mode 2 3 See Table 7 1 Satellite Used 07 SV on Channel 1 1 Satellite Used 02 SV on Channel 2 … … 1 Satellite Used SV on Channel N PDOP 1.8 Position Dilution of Precision HDOP 1.0 Horizontal Dilution of Precision VDOP 1.5 Vertical Dilution of Precision Checksum *33 End of message termination 1 Satellite used in solution. Table 5. GSA Data Format Value Description M Manual – forced to operate in 2D or 3D mode A Automatic – allowed to automatically switch 2D/3D Table 6. Mode 1 Value Description 1 Fix not available 2 2D 3 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 ©2003 RF Solutions Ltd, www.rfsolutions.co.uk Page 8 Tel 01273 898000 Fax 01273 480661 Tel 01273 898000 Fax 01273 480661 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 Example Units Description Message ID $GPGSV GSV protocol header 1 Number of Messages 2 Range 1 to 3 1 Message Number 1 Range 1 to 3 Satellites in View 07 Satellite ID 07 Channel 1 (Range 1 to 32) Elevation 79 degrees Channel 1 (Maximum 90) 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 End of message termination 1 Depending on the number of satellites tracked multiple messages of GSV data may be required. 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 Example Units Description Message ID $GPRMC RMC protocol header UTC Position 161229.487 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 1 degrees E = east or W = west Magnetic Variation Checksum *10 End of message termination 1 All "course over ground" data are geodetic WGS84 directions. 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 ©2003 RF Solutions Ltd, www.rfsolutions.co.uk Page 9 Tel 01273 898000 Fax 01273 480661 Tel 01273 898000 Fax 01273 480661 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 Description Message ID $GPVTG VTG protocol header Course 309.62 degrees Measured heading Reference T True Course degrees Measured heading 1 Reference M Magnetic Speed 0.13 knots Measured horizontal speed Units N Knots Speed 0.2 km/hr Measured horizontal speed Units K Kilometer per hour Checksum *6E End of message termination 1 All "course over ground" data are geodetic WGS84. 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 Example Units Description Message ID $GPZDA ZDA protocol header Hour, Min, Sec, Sub Sec 114523.62 hhmmss.ss Day 12 day in UTC, 01 to 31 Month 04 month in UTC, 01 to 12 Year 2001 year in UTC Local Zone Hours 10 local zone hours, +/- 13 hours Local Zone Minutes 34 local zone minutes, 0 to +59 End of message termination 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 ©2003 RF Solutions Ltd, www.rfsolutions.co.uk Page 10 Tel 01273 898000 Fax 01273 480661 Tel 01273 898000 Fax 01273 480661 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 Example Units Description Message ID $PXEMaNM Proprietary NM protocol header, a-mode (S = set; R = response) Mask 0008 xxxx Output command mask, hex value (see Notes below) Rate 01 sec xx Automatic output command rate (00 to 99) End of message termination 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 xxxx Command Bit# Field value GGA 0 0001 GLL 1 0002 VTG 2 0004 DS031-2 Jan ‘04 ©2003 RF Solutions Ltd, www.rfsolutions.co.uk Page 11 Tel 01273 898000 Fax 01273 480661 Tel 01273 898000 Fax 01273 480661 GPSM001 OEM GPS Receiver Module GSA 4 0010 GSV 3 0008 ZDA 5 0020 RMC 8 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 Example Units Description Message ID $PXEMaPS Proprietary PS protocol header, a-mode (S = set; R = response0 On/Off 1 PPS output switch (1 = ON; 0 = OFF) End of message termination Table 14 PS Data Format Example: $PXEMSPS,1*6E (set) $PXEMRPS,a*6E (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 Example Units Description Message ID $PXEMaPT Proprietary PT protocol header, a-mode (S = set; R = response) Baud rate 009600 xxxxxx Baud rate (057600, 038400, 019200, 009600, 004800, 002400) Data length 8 x # of data bits (7 or 8) Parity N Parity (N = None; O = Odd; E = Even) Stop bit 1 # of stop bits (1 or 2) End of message termination 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 Example Units Description Message ID $PXEMaRT Proprietary RT protocol header, a-mode (S = set; R = response) Command S C = cold software reset W = warm software reset H = hot software reset DS031-2 Jan ‘04 ©2003 RF Solutions Ltd, www.rfsolutions.co.uk Page 12 Tel 01273 898000 Fax 01273 480661 Tel 01273 898000 Fax 01273 480661 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 Example: $PXEMSRT,W*6E (set) $PXEMRRT,a*6E (response to set: a – action status: A = success; V = failure) DS031-2 Jan ‘04 ©2003 RF Solutions Ltd, www.rfsolutions.co.uk Page 13 Tel 01273 898000 Fax 01273 480661 Tel 01273 898000 Fax 01273 480661 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 Example Units Description Message ID $PXEMaVR Proprietary RT protocol header, a-mode (Q = query; R = response) Component type A M = measurement platform (MPM) firmware A = FirstGPS API N = FirstGPS Library R = native RTOS U = native processor (CPU) V = Software build Name abcdef variable length field; may be up to 17 characters long Maj version 04 Major version number (00 to 99) Min version 02 Minor version number (00 to 99) Beta version 03 Beta version number (00 to 99) Month 10 Month of the release (01 to 12) Day 27 Day of the release (01 to 31) Year 2002 Year of the release End of message termination 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 Example Units Description Message ID $PXEMaGS Proprietary GS protocol header, a-mode (S = set; R = response) Ellipsoid 12 ee Ellipsoid Model (see table below) Delta X -0.148 m xxxx.xxxxxx, shift parameter on x axis Delta Y 0.096 m yyyy.yyyyyy, shift parameter on y axis Delta Z 0.122 m zzzz.zzzzzz, shift parameter on z axis End of message termination Table 18 GS Data Format Index Ellipsoid Name Semi-Major Axis Flattening 00 Airy 1830 6377563.396 299.3249646 01 Australian National & South American 1969 6378160 298.25 02 Bessel 1841 Ethiopia 6377397.155 299.1528128 03 Bessel 1841 Namibia 6377483.865 299.1528128 04 Clarke 1866 6378206.4 294.9786982 05 Clarke 1880 6378249.145 293.465 06 Everest Brunei and E. Malaysia 6377298.556 300.8017 07 Everest India 1830 6377276.345 300.8017 DS031-2 Jan ‘04 ©2003 RF Solutions Ltd, www.rfsolutions.co.uk Page 14 Tel 01273 898000 Fax 01273 480661 Tel 01273 898000 Fax 01273 480661 GPSM001 OEM GPS Receiver Module 08 Everest India 1956 6377301.243 300.8017 09 Everest Pakistan 6377309.613 300.8017 10 Everest W. Malaysia and Singapore 1948 6377304.063 300.8017 11 Geodetic Reference System 1980 6378137 298.257222101 12 Helmert 1906 6378200 298.3 13 Hough 1960 6378270 297 14 Indonesian 1974 6378160 298.247 15 International 1924 & Hayford 6378388 297 16 Krassovsky 1940 6378245 298.3 17 Modified Airy 6377340.189 299.3249646 18 Modified Fischer 1960 6378155 298.3 19 WGS 1972 6378135 298.26 20 WGS 1984 6378137 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 Example Units Description Message ID $PXEMaLP Proprietary LP protocol header, a-mode (S = set; R = response) End of message termination 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 ©2003 RF Solutions Ltd, www.rfsolutions.co.uk Page 15 Tel 01273 898000 Fax 01273 480661 Tel 01273 898000 Fax 01273 480661 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 ©2003 RF Solutions Ltd, www.rfsolutions.co.uk Page 16 Tel 01273 898000 Fax 01273 480661 Tel 01273 898000 Fax 01273 480661 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. # Default parameter Data Type Default value Range values 2400 / 4800 / 9600 / 19200 / 38400 / 1 Serial Port Baudrate (A / B) Integer 4800 / 9600 57600 2 Serial Port Data bits (A / B) Integer 8 / 8 7 / 8 3 Serial Port Parity bits (A / B) Character None / None None / Odd / Even 4 Serial Port Stop bits (A / B) Integer 1 / 1 1 / 2 GGA / GLL / GSA / GSV / RMC / VTG 5 NMEA output displayed NMEA Syntax GGA / GSA / GSV / RMC / ZDA ZDA / GGA / GLL / VTG / Any valid combination 6 NMEA display order Integer GSA / GSV / RMC (not implemented yet) 7 NMEA refresh rate Integer 1 second 1 to 99 seconds 8 Geodetic System Ellipsoid Integer 20 00 to 20 9 Geodetic System Delta X Real 0 -9999.99999 to +9999.99999 10 Geodetic System Delta Y Real 0 -9999.99999 to +9999.99999 11 Geodetic System Delta Z Real 0 -9999.99999 to +9999.99999 12 PPS output Boolean Enabled Disabled 13 BBRAM Update rate Integer 6 days 1 to 31days 2D only / 3D only / Auto 2D/3D 14 Receiver Mode Integer Auto 2D/3D (not implemented yet) Land / Sea / Air / Stationary / 15 Dynamic Code Integer Automobile Automobile 16 Max Oscillator Offset Real 7.9e-6 Depends on the Oscillator 17 Elevation Mask Integer 5 degrees 0 to 10 degrees 18 Signal Level Mask Integer 2 2 to 6 19 DOP Mask Integer 12 6 to 20 20 PDOP Switch Integer 6 6 to 8 -PI/2 to PI/2 21 Last Position (Latitude) Real TBD by Customer (not implemented yet) -PI to PI 22 Last Position (Longitude) Real TBD by Customer (not implemented yet) 23 Last Position (Altitude) Real TBD by Customer (not implemented yet) 24 Last Position (Accuracy) Real TBD by Customer (not implemented yet) DS031-2 Jan ‘04 ©2003 RF Solutions Ltd, www.rfsolutions.co.uk Page 17 Tel 01273 898000 Fax 01273 480661 Tel 01273 898000 Fax 01273 480661 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 DGPS Off Filter configuration Kalman Filter Offset configuration Offset 0 ppm Window -1 ppm Application settings Number of channels 8 Week epoch 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. 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 2.7 - 3.6 V 1,575.42+/-1.023MHz Frequency range LNA Gain 27 dB at 3.0 V LNA NF 1.1 dB at 3.0 V Antenna and LNA total Gain 25 dBi Max at 3.0 V DS031-2 Jan ‘04 ©2003 RF Solutions Ltd, www.rfsolutions.co.uk Page 18 Tel 01273 898000 Fax 01273 480661 Tel 01273 898000 Fax 01273 480661 GPSM001 OEM GPS Receiver Module TABLE A The following table illustrates datums for some cities around the world. Country City NNEA Syntax WGS-84 Datum Local Datum 51° 23’ N 51° 22’ 58.454” N Wales Cardiff $PXEMSGS,00,375,-111,431*78 3° 20’ W 3° 19’ 55.396” W 100.0 m 51.497 m 33° 52' S 33° 52’ 5.738” S Australia Sydney $PXEMSGS,01,-134,-48,149*40 151° 12' E 151° 11’ 55.851” E 100.0 m 81.918 m 35° 41' N 35° 40’ 48.239” N Japan Tokyo $PXEMSGS,02,-148,507,685*5C 139° 46' E 139° 46’ 11.591” E 100.0 m 59.959 m 22° 34' S 22° 33’ 58.644” S Namibia Windhoek $PXEMSGS,03,616,-97,251*60 17° 5' E 17° 5’ 3.088” E 100.0 m 77.040 m 23° 08' N 23° 7’ 58.302” N Cuba Havana $PXEMSGS,04,-3,142,183*50 82° 21' W 82° 21’ 0.559” W 100.0 m 125.109 m 14° 42' N 14° 41’ 57.554” N Senegal Dakar $PXEMSGS,05,-128,-18,224*44 17° 29' W 17° 28’ 58.140” W 100.0 m 66.314 m 4° 56’ N 4° 56’ 3.033” N Brunei Bandar S. B. $PXEMSGS,06,-679,669,-48*4C 114° 50’ E 114° 49’ 49.116” E 100.0 m 52.227 m 13° 44' N 13° 43’ 54.002” N Thailand Bangkok $PXEMSGS,07,210,814,289*7D 100° 30' E 100° 30’ 11.811” E 100.0 m 141.421 m 22° 32' N 22° 31’ 57.337” N India Calcutta $PXEMSGS,08,295,736,257*73 88° 20' E 88° 20’ 9.571” E 100.0 m 122.930 m 24° 48' N 24° 47’ 58.714” N Pakistan Karachi $PXEMSGS,09,283,682,231*7B 66° 59' E 66° 58’ 59.779” E 100.0 m 128.006 m 1° 18' N 1° 18’ 0.179” N Singapore Singapore $PXEMSGS,10,-11,851,5*62 103° 50' E 103° 50’ 6.237” E 100.0 m 103.999 m 55° 46' N 55° 46’ 0.010” N Russia Moscow $PXEMSGS,11,1.08,0.27,0.9*6C 37° 40' E 37° 39’ 59.865” E 100.0 m 99.446 m 29° 52' N 29° 51’ 59.415” N Egypt Cairo $PXEMSGS,12,-130,110,-13*44 31° 20' E 31° 19’ 53.980” E 100.0 m 89.458 m 41° 32’ N 41° 32’ 6.227” N Marshall Island Majuro $PXEMSGS,13,102,52,-38*57 12° 18’ E 12° 17’ 58.745” E 100.0 m -50.775 m 6° 11' S 6° 11’ 0.141” S Indonesia Djakarta $PXEMSGS,14,-24,-15,5*75 106° 50' E 106° 49’ 59.111” E 100.0 m 84.912 m 48° 49' N 48° 49’ 3.271” N France Paris $PXEMSGS,15,-87,-96,-120*5D 2° 29' E 2° 29’ 4.516” E 100.0 m 50.964 m 2° 2' N 2° 1’ 58.354” N Somalia Mogadiscio $PXEMSGS,16,-43,-163,45*72 49° 19' E 49° 19’ 2.383” E DS031-2 Jan ‘04 ©2003 RF Solutions Ltd, www.rfsolutions.co.uk Page 19 Tel 01273 898000 Fax 01273 480661 Tel 01273 898000 Fax 01273 480661 GPSM001 OEM GPS Receiver Module 100.0 m 141.943 m 53° 22' N 53° 21’ 59.163” N Ireland Dublin $PXEMSGS,17,506,-122,611*58 6° 21' W 6° 20’ 56.468” W 100.0 m 47.599 m 1° 18' N 1° 18’ 0.833” N Singapore Singapore $PXEMSGS,18,7,-10,26*51 103° 50' E 103° 50’ 0.142” E 100.0 m 93.969 m 53° 22' N 53° 21’ 59.906” N Ireland Dublin $PXEMSGS,19,0,0,4.5*60 6° 21' W 6° 21’ 0.554” W 100.0 m 96.856 m 53° 22' N 53° 22' N Ireland Dublin $PXEMSGS,20,0,0,0*75 6° 21' W 6° 21' W 100.0 m 100.0 m 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 Fax +44 (0)1273 480 661 Email sales@rfsolutions.co.uk http://www.rfsolutions.co.uk RF Solutions is a member of the Low Power Radio Association A Allll T Tr ra ad de em ma ar rk ks s a ac ck kn no ow wlle ed dg ge ed d a an nd d r re em ma aiin n tth he e p pr ro op pe er rtty y o off tth he e r re es sp pe ec ctte ed d o ow wn ne er rs s 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. 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. U Us se e o off R R..F F..S So ollu uttiio on ns s a as s c cr riittiic ca all c co om mp po on ne en ntts s iin n lliiffe e s su up pp po or rtt s sy ys stte em ms s iis s n no ott a au utth ho or riis se ed d e ex xc ce ep ptt w wiitth h e ex xp pr re es ss s w wr riitttte en n a ap pp pr ro ov va all ffr ro om m R R..F F..S So ollu uttiio on ns s L Lttd d.. DS031-2 Jan ‘04 ©2003 RF Solutions Ltd, www.rfsolutions.co.uk Page 20 Tel 01273 898000 Fax 01273 480661 Tel 01273 898000 Fax 01273 480661