eRide Serial Interface Protocol (eSIP)
Contents
1. 1 UTC Time e g 02461 1 08 UTC Day 01 to 31 UTC Month 01 to 12 TC Year 4 digits i e 2007 Local Time Zone Hours offset from UTC not supported Local Time Zone Minutes offset from UTC not supported ND NO fF WN Sc Checksum 5 Standard NMEA Inputs The PVT application supports the GPQ NMEA sentence query This command allows a single NMEA sentence to be requested The module will respond with a single transmission of the specified sentence 5 1 GPQ NMEA Sentence Query Format SGPGPQ type cks type Three letter designation for sentence being requested Valid values are GGA GLL GSA GSV RMC and ZDA Examples SGPGPQ GGA 3C Request the GGA sentence SGPGPQ GSV 3F Request the GSV sentence Preliminary and confidential Copyrights 2007 eRide Inc Disclaimer The content of this document are subject to change without notice Customers are advise to consult with eRide sales representatives before ordering Page 8 of 16 The information and circuit diagrams in this document are presented as is no license is granted by implication or otherwise oRide Preliminary and confidential Page 9 of 16 eRide Serial Interface Protocol eSIP lt 7 May 14 2007 User s Manual OPUS ezRide Revision 1 6 Proprietary NMEA Inputs The PVT module will accept several proprietary commands from the host system The NMEA input format will be used The format requires an eight bit checksum for each message2. However it is recommended that this command only be sent when the GPS core is stopped O Examples PERDDBG DIAG ON 48 Enable diagnostics output PERDDBG DIAG OFF 06 Disable diagnostics output Copyrights 2007 eRide Inc Disclaimer The content of this document are subject to change without notice Customers are advise to consult with eRide sales representatives before ordering The information and circuit diagrams in this document are presented as is no license is granted by implication or otherwise eRide Preliminary and confidential Page 13 of 16 eRide Serial Interface Protocol eSIP lt 7 May 14 2007 User s Manual OPUS ezRide Revision 1 6 4 INFO Get the PVT System Information Sending this command will return a string indicating the PVT information including software revision number It will be used to assist in problem reporting The response is listed below in the Proprietary NMEA Outputs section o Format Example PERDINFO 0D Request system information 6 5 OUT Configure the Standard NMEA Outputs These commands control the standard NMEA outputs o Format SPERDOUT type interval cks type Three letter designation for sentence being configured Valid values are GGA GLL GSA GSV RMC and ZDA interval Number of seconds to output each sentence Zero seconds will disable the output Negative values will be ignored o Examples PERDOUT GGA 2 3E Send the GGA sentence
3. or the message will be ignored An acknowledgement will be sent by the PVT module for each valid command received see ACK Command Acknowledgement for more details All input commands will start with the string SPERD to indicate eRide specific commands This is required by the NMEA standard P is used to indicate a proprietary non standard NMEA A 3 letter manufacturer designation then follows eRide has selected ERD 6 1 API eRide GPS Core Library Interface These commands control the GPS core algorithm Each of these commands corresponds to an API call for configuring the eRide GPS library The core library configuration command will be listed for each command For more details on the API calls please refer to the eRide GPS Core Interface document 6 1 1 LATPROP Enable Latency Position Propagation This command controls the latency position propagation feature The parameter is the number of milliseconds to propagate forward each calculated position fix This feature is enabled by default with a setting of 0 milliseconds Core Library API function erSetLatencyPositionPropagation int currentTimeOffset o Format SPERDAPI LATPROP time cks time Number of milliseconds to propagate each calculated position fix A time value of 1 will disable this feature O Examples PERDAPI LATPROP 0 2F Enable latency position propagation to latest time SPERDAPI LATPROP 500 2A Enable latency position propagation to 500 ms SPERDAP
4. 7 8 a a hh lt CR gt lt LF gt r Field Number 1 Latitude N or S North or South Longitude E or W East or West Universal Time Coordinated UTC Status A Data Valid V Data Invalid Mode Indicator N DO UT HR WN A Autonomous D Differential E Estimated dead reckoning M Manual Input S Simulator N Data Invalid 8 Checksum 4 3 GSA GPS DOP and Active Satellites 123 14 15 16 17 18 OD AE SGPGSA a a X X X X X X X X X X X X X X X X X X X X hh lt CR gt lt LF gt Field Number 1 Selection mode M Manual forced 2D or 3D A Automatic 3D 2D 2 Mode 1 no fix 2 2D fix 3 3D fix 3 ID of 1st satellite used for fix 4 ID of 2nd satellite used for fix 14 ID of 12th satellite used for fix PDOP in meters 16 HDOP in meters VDOP in meters checksum Preliminary and confidential Copyrights 2007 eRide Inc Disclaimer The content of this document are subject to change without notice Customers are advise to consult with eRide sales representatives before ordering Page 6 of 16 The information and circuit diagrams in this document are presented as is no license is granted by implication or otherwise oRide eRide Serial Interface Protocol eSIP 10 May 14 2007 User s Manual OPUS III ezRide Revision 1 4 4 GSV Satellites in View 1234567 n ee ee ee A Field Number 1 total number of messages maximum of three 2 message
5. every two seconds PERDOUT GSV 0 3F Disable the GSV output sentence 6 6 SYS Control the PVT System These commands control the PVT module Commands to start stop the core and to put the circuit into low power mode are provided 6 6 1 COMCTRL Configure Serial Communications This command configures the PVT serial communications port The default settings are 9600 baud eight data bits no parity bit and one stop bit Copyrights 2007 eRide Inc Disclaimer The content of this document are subject to change without notice Customers are advise to consult with eRide sales representatives before ordering The information and circuit diagrams in this document are presented as is no license is granted by implication or otherwise oRide eRide Serial Interface Protocol eSIP 0 May 14 2007 User s Manual OPUS ezRide Revision 1 o Format SPERDSYS COMCTRL baud parity stopbits cks baud Baud rate Acceptable values are 4800 9600 and 115200 parity The parity format Acceptable values are NONE EVEN and ODD stopbits Number of stop bits between each byte Acceptable values are 1 and 2 Note that 8 data bits will always be used The PVT module sends an ACK to the host in response to this command back at the original baud rate before changing to the new communications settings O Examples SPERDSYS COMCTRL 9600 NONE 1 26 Set to 9600 baud no parity one stop bit SPERDSYS COMCTRL 115200 ODD 1 6B 115200 bau
6. reported The error codes are listed below 1 Shutdown failure 2 GPS communication failure 3 Non volatile memory access failure string Error message arbitrary text field giving error details o Example PERDERR 2 Shutting down core 53 7 3 INFO Print System Information This string will be sent whenever the PVT module has been reset It will also be sent in response to the PERDINFO input command from the host o Format SPERDINFO product revision gpsmode clientID cks product ASCII string describing the product revision Passes the revision numbers for all system components The revisions are all concatenated into a single field gpsmode Current GPS core library state 0 GPS is off 1 GPS is running 2 GPS is in RTC standby mode 3 GPS is inTime and Peripherals mode Preliminary and confidential Copyrights 2007 eRide Inc Disclaimer The content of this document are subject to change without notice Customers are advise to consult with eRide sales representatives before ordering Page 15 of 16 The information and circuit diagrams in this document are presented as is no license is granted by implication or otherwise oRide eRide Serial Interface Protocol eSIP lt 7 May 14 2007 User s Manual OPUS III ezRide Revision 1 clientID The client ID of the module The full client ID is CLIENT_xxxxxxxxx However the O 7 4 CLIENT_ portion is not transmitted in this sentence T
7. 14 15 E EETA ET E EOE ee es ce Field Number 1 Universal Time Coordinated UTC 2 Latitude 3 N or S North or South 4 Longitude 5 E or W East or West 6 GPS Quality Indicator 0 fix not available 1 GPS fix 2 Differential GPS fix Number of satellites in view 00 12 Horizontal Dilution of precision 9 Antenna Altitude above below mean sea level geoid 0 Units of antenna altitude meters 11 Geoidal separation the difference between the WGS 84 earth ellipsoid and mean sea level geoid means mean sea level below ellipsoid not supported 12 Units of geoidal separation meters not supported 13 Age of differential GPS data time in seconds since last SC104 type 1 or 9 update null field when DGPS is not used not supported 14 Differential reference station ID 0000 1023 not supported Checksum Preliminary and confidential Copyrights 2007 eRide Inc Disclaimer The content of this document are subject to change without notice Customers are advise to consult with eRide sales representatives before ordering Page 5 of 16 The information and circuit diagrams in this document are presented as is no license is granted by implication or otherwise oRide eRide Serial Interface Protocol eSIP 0 May 14 2007 User s Manual OPUS ezRide Revision 1 4 2 GLL Geographic Position Latitude Longitude 1 GPGLL 1111 11 3 YYYYY yy a hhmmss ss 9 N 45 6
8. I LATPROP 1 03 Disable latency position propagation 6 1 2 OUTPROP Enable Position Outage Propagation This command controls the position outage propagation feature The parameter is the number of seconds that the last calculated position is propagated forward using the last velocity in the event of a loss of satellite signals Copyrights 2007 eRide Inc Disclaimer The content of this document are subject to change without notice Customers are advise to consult with eRide sales representatives before ordering The information and circuit diagrams in this document are presented as is no license is granted by implication or otherwise oRide Preliminary and confidential Page 10 of 16 eRide Serial Interface Protocol eSIP lt r May 14 2007 User s Manual OPUS III ezRide Revision 1 Core Library API function erSetPositionOutagePropagation int maxSec o Format SPERDAPI OUTPROP time cks time Number of seconds to propagate the last valid position fix when the GPS signal is lost A time value of 0 will disable this feature The default value is ten seconds O Examples PERDAPI OUTPROP 5 3D Set outage position propagation to five seconds PERDAPI OUTPROP 0 38 Disable outage position propagation 6 1 3 STANDBY Enter GPS Standby Mode This command puts the system into 27 MHz RTC standby mode This stops the GPS algorithm from running and it puts the chipset into a lower power made No paramet
9. OPUS ezRide Revision 1 1 Purpose This document describes the eRide Serial communications Interface Protocol eSIP for controlling an eRide PVT module The PVT module provides NMEA data over a serial port to another device It also accepts input commands from a host This document is intended to aid development of an external host to control the PVT module 2 Physical Interface The eRide PVT module uses a COM port interface model Any physical support that uses this interface can be used such as RS 232 USB or Bluetooth The serial interface can operate at several different baud ates The default configuration is 9600 baud 8 data bits no parity bit and one stop bit The serial interface is configured using the PERDSYS COMCTRL command The baud rate parity and stop bits can be varied based on the host system 8 data bits are required See the COMCTRL Configure Serial Communications for more details 3 NMEA Sentence Format The interface is based on the NMEA sentence format It s a well defined format with many free viewers available on the internet The first character is a dollar sign Data fields are separated by either a comma or a carat The valid data character set is all characters from ASCII 0x22 0x7D except 0x21 S 0x24 Ox2A and Ox5C An eight bit checksum preceded by an asterisk is included at the end of each line Each sentence is terminated with a carriage return line feed CR LF s
10. Rid e Enabling Satellite Navigation Preliminary and confidential Page 1 of 16 User s Manual eTMO00001 May 14 2007 Revision 1 eRide Serial Interface Protocol eSIP User s Manual Opus Ill ezRide Copyrights 2007 eRide Inc Disclaimer The content of this document are subject to change without notice Customers are advise to consult with eRide sales representatives before ordering The information and circuit diagrams in this document are presented as is no license is granted by implication or otherwise oRide Preliminary and confidential Page 2 of 16 eRide Serial Interface Protocol eSIP lt r May 14 2007 User s Manual OPUS ezRide Revision 1 Content List 1 Purpose 2 Physical Interface 3 NMEA Sentence Format 4 Standard NMEA Outputs 4 1 4 2 4 3 4 4 4 5 4 6 GGA Global Positioning System Fix Data GLL Geographic Position Latitude Longitude GSA GPS DOP and Active Satellites GSV Satellites in View RMC Recommended Minimum Navigation Information ZDA Time amp Date 5 Standard NMEA Inputs 5 1 GPQ NMEA Sentence Query 6 Proprietary NMEA Inputs 6 1 6 2 6 3 6 4 6 5 6 6 API eRide GPS Core Library Interface 6 1 1 LATPROP Enable Latency Position Propagation 6 1 2 OUTPROP Enable Position Outage Propagation 6 1 3 STANDBY Enter GPS Standby Mode 6 1 4 START Start the GPS Core Library 6 1 5 STOP Stop the GPS Core CFG Syste
11. be executed when the system is OFF or in STANDBY It only clears the FLASH itself not RAM copies of the FLASH data If executed during execution the effect of clearing previous run data may be lost The data in RAM is normally stored to FLASH during shutdown so while the FLASH will be cleared the RAM data would just return the FLASH to the current settings when the shutdown command is executed Other parameters are stored at various times during execution so this may also nullify the effect of clearing FLASH Clearing FLASH will require many CPU cycles This may interfere with position fixing if the GPS algorithm is executing This command CANNOT be undone After a PERDCFG FACTORYRESET command the system is in Factory Cold mode with no previous run information or no RTC offset information Behavior like TTFF will be affected The system should normally be run with an outdoor antenna and allowed to fix for several minutes after executing this command to restore normal operating parameters 6 3 DBG Control Debug Data Mode 6 3 1 DIAG Enable Binary Debug Output This command controls the system debug output mode see RPx Diagnostics Data Packet The only valid settings are ON and OFF all other settings are ignored The default value is OFF This command must be sent with the baud rate set to 115 2 kbaud or the command will be ignored This command can be sent at any time and the debug output will immediately begin
12. d odd parity one stop bit 7 Proprietary NMEA Outputs 7 1 ACK Command Acknowledgement This string is sent in response to all inputs to confirm successful receipt by the client It is up to the PC host to implement any error handling procedures O Format SPERDACK command sequence cks command Echoes the initial field of the command received by the client sequence Counter that increments for each receipt of a successful command Range is from 000 to 255 rollover automatically occurs This value will be a negative number for errors Note that the command must still pass checksum in order to return an error 1 Unknown or bad command O Examples PERDACK PERDAPI 001 20 Confirm receipt of command SPERDACK PERDJUNK 1 4F Signal unknown command error Preliminary and confidential Copyrights 2007 eRide Inc Disclaimer The content of this document are subject to change without notice Customers are advise to consult with eRide sales representatives before ordering Page 14 of 16 The information and circuit diagrams in this document are presented as is no license is granted by implication or otherwise oRide eRide Serial Interface Protocol eSIP 70 May 14 2007 User s Manual OPUS ezRide Revision 1 7 2 ERR System Error Report This string will be sent when the PVT module detects an error condition o Format SPERDERR errornum string cks errornum Type of error being
13. equence The NMEA standard specifies many standard output sentences All standard sentences for Global Position System devices must start with GP The standard also allows for vendor specific data starting with P proprietary followed by a 3 letter designation for manufacturer eRide has chosen ERD All eRide proprietary sentences will begin with PERD 4 Standard NMEA Outputs The PVT application supports six standard NMEA output sentences GGA GLL GSA GSV RMC and ZDA per NMEA standard 0183 Version 3 01 January 1 2002 Each sentence will be output every second by default The sentences can be independently enabled and disabled using the PERDOUT command described later in this document as well as use differing transmission rates The NMEA sentence descriptions in this sentence are for reference only The sentence formats are defined exclusively by the copyrighted document from NMEA Copyrights 2007 eRide Inc Disclaimer The content of this document are subject to change without notice Customers are advise to consult with eRide sales representatives before ordering The information and circuit diagrams in this document are presented as is no license is granted by implication or otherwise 2Ride eRide Serial Interface Protocol eSIP 0 May 14 2007 User s Manual OPUS ezRide Revision 1 4 1 GGA Global Positioning System Fix Data Time Position and fix related data for a GPS receiver 1 2 3 4 567 8 TERT
14. ers are required Core Library API function erGpsStandby void O Format Example PERDAPI STANDBY 20 Put GPS chipset into Standby mode 6 1 4 START Start the GPS Core Library This command starts the eRide GPS Core Library The GPS core must be in Standby or Off state for this command to have any effect Core Library API functions erGpsStart void erSetStartType int startType o Format PERDAPI START mode kk mode type of start to perform default value is HOT Acceptable values are shown in the table below This parameter is optional This parameter is used in the erSetStartType core API function Copyrights 2007 eRide Inc Disclaimer The content of this document are subject to change without notice Customers are advise to consult with eRide sales representatives before ordering The information and circuit diagrams in this document are presented as is no license is granted by implication or otherwise oRid e Preliminary and confidential Page 11 of 16 eRide Serial Interface Protocol eSIP lt 0 May 14 2007 User s Manual OPUS III ezRide Revision 1 Mode Description HOT Hot start uses previous position time requires local high accuracy satellite model WARM Warm start uses previous position time COLD Cold start uses local low accuracy satellite model FACTORY Factory start uses default low accuracy satellite model stored in ROM SIMCOLD Simulator cold start do
15. es not use any satellite models o Examples SPI SPI ERDAPI S 1 ERDAPI S 1 TAR TAR 37 Do a hot start T COLD IF Do a cold start 6 1 5 STOP Stop the GPS Core This command stops the GPS core from running and puts the GPS chipset into the lowest power mode No parameters are required Core Library API function erGpsStop void o Format Example SP General Notes ERDAPI STOP 6F Put GPS chipset into Standby mode After the STOP sentence is sent the GPS algorithm and chipset are restarted by sending a PERDAPI START command The embedded controller remains active even though the algorithm is not longer executing Copyrights 2007 eRide Inc Disclaimer The content of this document are subject to change without notice Customers are advise to consult with eRide sales representatives before ordering The information and circuit diagrams in this document are presented as is no license is granted by implication or otherwise oRide Preliminary and confidential Page 12 of 16 eRide Serial Interface Protocol eSIP lt 7 May 14 2007 User s Manual OPUS ezRide Revision 1 6 2 CFG System Configuration 6 2 1 FACTORYRESET Return to Factory Settings This command clears the non volatile data The data is stored in flash memory O Format Example SPERDCFG FACTORYRESET 6C Clear all of the stored non volatile data General Notes This command should
16. fore ordering Page 16 of 16 The information and circuit diagrams in this document are presented as is no license is granted by implication or otherwise
17. he ID can have up to 9 digits Examples PERDINFO OPUS3PVT ENP301A713006 11631805 H101843457 1 3000 14 RPx Diagnostics Data Packet This is the diagnostic output data This is used to gather the GPS diagnostic data for debugging complex issues The serial data sent by the PVT should be saved to a file and sent to the sales representative The output data will contain both standard NMEA output sentences and special debug sentences The debug sentences begin with SPERDRP These sentences are only usable by eRide factory engineers Stop the GPS core using either the STOP or STANDBY command 1 Send either the STOP or STANDBY command at the current baud rate Use SPERDSYS COMCTRL to set the baud rate to 115 2 kbaud On the PC switch baud rate to 115 2 kbaud Start logging serial communication data to a file Send SPERDDBG DIAG ON 48 Send the desired START command This must be sent at 115 2 kbaud Run the program and accumulate data Send either the STOP or STANDBY command at 115 2 kbaud Stop logging the communications to a file Send SPERDDBG DIAG OFF 06 Use SPERDSYS COMCTRL to return the baud rate to the desired NMEA setting Repeat steps 4 8 as many times as desired Send the data files to eRide for analysis Preliminary and confidential Copyrights 2007 eRide Inc Disclaimer The content of this document are subject to change without notice Customers are advise to consult with eRide sales representatives be
18. m Configuration 6 2 1 FACTORYRESET Return to Factory Settings DBG Control Debug Data Mode 6 3 1 DIAG Enable Binary Debug Output INFO Get the PVT System Information OUT Configure the Standard NMEA Outputs SYS Control the PVT System 6 6 1 COMCTRL Configure Serial Communications Copyrights 2007 eRide Inc Disclaimer The content of this document are subject to change without notice Customers are advise to consult with eRide sales representatives before ordering The information and circuit diagrams in this document are presented as is no license is granted by implication or otherwise Oo N N DO WN Bf o Oo o o oRide Preliminary and confidential Page 3 of 16 eRide Serial Interface Protocol eSIP lt r May 14 2007 User s Manual OPUS ezRide Revision 1 7 Proprietary NMEA Outputs 7 1 ACK Command Acknowledgement 7 2 ERR System Error Report 7 3 INFO Print System Information 7 4 RPx Diagnostics Data Packet Copyrights 2007 eRide Inc Disclaimer The content of this document are subject to change without notice Customers are advise to consult with eRide sales representatives before ordering The information and circuit diagrams in this document are presented as is no license is granted by implication or otherwise 14 14 15 15 16 oRid e Preliminary and confidential Page 4 of 16 eRide Serial Interface Protocol eSIP lt r May 14 2007 User s Manual
19. number 3 satellites in view maximum of twelve 4 satellite number 5 elevation in degrees 6 azimuth in degrees to true 7 SNR in dB more satellite infoformation like 4 7 up to four total SVs n checksum 4 5 RMC Recommended Minimum Navigation Information 12 1 23 45 67 8 9 10 iij 13 SGPRMC Nias SS 3 ee ally N yy i 7X l ci a X a ee Field Number 1 UTC Time 2 Status V Navigation receiver warning 3 Latitude 4 Nors 5 Longitude 6 E or W 7 Speed over ground knots 8 Track made good degrees true 9 Date ddmmyy 10 Magnetic Variation degrees not supported 11 Magnetic Variation direction E or W not supported 12 Mode Indicator A Autonomous D Differential E Estimated dead reckoning Preliminary and confidential Copyrights 2007 eRide Inc Disclaimer The content of this document are subject to change without notice Customers are advise to consult with eRide sales representatives before ordering Page 7 of 16 The information and circuit diagrams in this document are presented as is no license is granted by implication or otherwise oRide eRide Serial Interface Protocol eSIP 70 May 14 2007 User s Manual OPUS ezRide Revision 1 M Manual Input S Simulator N Data Invalid 13 Checksum 4 6 ZDA Time amp Date UTC day month year and local time zone 1 2 3 4 5 6 7 po a lk e SGPZDA hhmmss sSs XX XX XXX XX XX hh lt CR gt lt LF gt Field Number
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