GPS Firmware A1080 & A1035-D v4.1 - MT
Contents
1. e g GPGSV 1 1 04 03 27 159 45 14 43 095 48 20 17 231 40 31 60 190 42 7F 1 GPGSV Vendor and message identifier 2 1 Total numbers of messages 3 1 Number of current message 4 04 Satellites in view 5 03 Satellite number of 1 satellite 6 27 Elevation in degrees of 1 satellite 7 159 Azimuth in degrees to true of 1 satellite 8 45 signal to noise ratio in dB of 1 satellite 00 when not track ing 9 14 Satellite number of 2 satellite 10 43 Elevation in degrees of 2 satellite 11 095 Azimuth in degrees to true of 2 satellite 12 48 a signal to noise ratio in dB of 2 satellite 00 when not track i 13 120 Satellite number of 3 satellite 14 17 Elevation in degrees of 3 satellite 15 231 Azimuth in degrees to true of 3 satellite 16 40 a signal to noise ratio in dB of 3rd satellite 00 when not track i 17 31 Satellite number of 4 satellite 18 60 Elevation in degrees of 4 satellite 19 190 Azimuth in degrees to true of 4 satellite 20 42 signal to noise ratio in dB of 4th satellite 00 when not track ing 21 7F Checksum Table 5 GSV example and description V4 1 08 11 User s Manual Page 11 of 21 Winescech 2 2 6 GLL Latitude Longitude UTC and status e g GPGLL 3723 2475 N 12158 3416 W 161229 487 A A 41 1 GPGSV Vendor and messa2. Navigation Initialization ooorrrrrrrrrrrrrrrrrrrrrrrrrrrrrrrrrrrrrrnrrrrnrrrrsrsssnnsnnnn 15 Table 10 Reset configurations eonnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnee 15 Table 11 Query Rate Control Data Format See example 1 rrrnnnnnnrrrrnnnnnnnnrrn 16 Table 12 NMEA Messages rnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnennnnnnnnnnnnnnnnnnnenen 16 Table 13 Development Data On Off Data Format rrrrrrrrrrrrrrrrrnrrrrnrrrrrrnrrnnnnnnn 18 Table 14 Select Datum Data Format rrnnnnnrnnnnnnnnnonvnnnnnrrrnnnnnnnnnnrnnnnnvrrnnnnnnnnnennn 19 V4 1 08 11 User s Manual Page 21 of 21
3. is used to switch the module back to SiRF binary protocol mode where a more extensive command message set is available When a valid mes sage is received the parameters are stored in battery backed SRAM and the A1080 A1035 D restarts using the saved parameters e PSRF100 0 9600 8 1 0 0C Name Example Description Message ID PSRF100 PSRF100 protocol header Protocol 0 0 SIRF binary 1 NMEA Baud 9600 4800 9600 19200 38400 57600 115200 DataBits 8 8 7 StopBits 1 0 1 Parity 0 0 none 1 odd 2 even Checksum OG End of message termination 1 Sirf protocol is only valid for 8 data bits 1 stop bit and no parity Table 8 Serial Port Set up V4 1 08 11 User s Manual Page 14 of 21 Winescech 3 4 Reset Configuration SiRF s original NavigationInitialization This command is used to configure various reset situations Hot Start Warm Start and Cold Start e PSRF101 0 0 0 0 0 0 12 4 10 Name Example Units Description Message ID PSRF101 PSRF101 protocol header ECEF X meters X coordinate position ECEF Y meters Y coordinate position ECEF Z meters Z coordinate position ClkOffset Hz Clock Offset of the A1080 A TimeOfWeek seconds GPS Time Of Week WeekNo GPS Week Number ChannelCount 12 Range 1 to 12 ResetCfg Reset configurations See Table 3 4 and Ta ble 3 5 Checksum 10 End of message termination 1 Use 0 for last saved
4. value if available If this is unavailable a default value of 96 000 is used Table 9 Navigation Initialization Hex Description 0x01 Hot Start All data valid 0x02 Warm Start Ephemeris cleared 0x04 Cold Start Clears all data in memory 0x08 Clear Memory Clears all data in memory and resets the receiver back to factory defaults Table 10 Reset configurations User s Manual V4 1 08 11 Page 15 of 21 Winescech 3 5 Query Rate control This command is used to control the output of standard NMEA messages GGA GLL GSA GSV RMC and VTG Using this command message standard NMEA messages may be polled once or setup for periodic output Checksums may also be enabled or disabled depending on the needs of the receiving program NMEA message settings are saved in battery backed memory for each entry when the message is accepted Table 3 6 contains the input values for the following examples 1 Query the GGA message with checksum enabled e PSRF103 00 01 00 01 25 2 Enable VTG message for a 1 Hz constant output with checksum enabled e PSRF103 05 00 01 01 20 3 Disable VTG message e PSRF103 05 00 00 01 21 Name Example Units Description Message ID PSRF103 PSRF103 protocol header Msg 00 See Table 3 7 Mode 01 0 SetRate 1 Query Rate 00 seconds Output rate 0 off Max 255 CksumEnable 01 0 Disable Checksum 1 Enable Checksum Checksum 25 End of message termi
5. 05 protocol header Debug 1 0 Off 1 On Checksum 3E End of message termination Table 13 Development Data On Off Data Format V4 1 08 11 User s Manual Page 18 of 21 3 7 Select Datum The A1080 A1035 D GPS receiver performs initial position and velocity calcula tions using an earth centered earth fixed ECEF coordinate system Results may be converted to an earth model geoid defined by the selected datum The default datum is WGS84 World Geodetic System 1984 which provides a worldwide com mon grid system that may be translated into local coordinate systems or map da tums Local map datums are a best fit to the local shape of the earth and not valid worldwide Vincotech The table below contains the input values for the following examples 1 Datum select TOKYO MEAN e PSRF106 178 32 Name Example Description Message ID PSRF106 PSRF106 protocol header Datum 178 21 WGS84 178 TOKYO_MEAN 179 TOKYO_JAPAN 180 TOKYO_KOREA 181 TOKYO OKINAWA Checksum 32 End of message termination Table 14 Select Datum Data Format V4 1 08 11 User s Manual Page 19 of 21 Wineotach 4 Related Information 4 1 Contact This manual was created with due diligence We hope that it will be helpful to the user to get the most out of the GPS module Anyway inputs about errors or mistakable verbalizations and comments or propos als to Vincotech Germany for further improvements are highly appreci
6. LABILITY OF SUCH EXTERNAL SITES OR RESOURCES AND DOES NOT ENDORSE AND IS NOT RESPONSIBLE OR LIABLE FOR ANY CONTENT ADVERTISING PRODUCTS OR OTHER MATERIALS ON OR AVAILABLE FROM SUCH SITES OR RESOURCES VINCOTECH SHALL NOT BE RESPONSIBLE OR LIABLE DIRECTLY OR INDIRECTLY FOR ANY DAMAGE OR LOSS CAUSED OR ALLEGED TO BE CAUSED BY OR IN CONNECTION WITH USE OF OR RELIANCE ON ANY SUCH CONTENT GOODS OR SERVICES AVAILABLE ON OR THROUGH ANY SUCH SITE OR RESOURCE VINCOTECH RESERVES THE RIGHT TO CHANGE MODIFY OR IMPROVE THIS DOCUMENT OR THE PRODUCT DESCRIBED HEREIN AS SEEN FIT BY VINCOTECH WITHOUT FURTHER NOTICE V4 1 08 11 User s Manual Page 3 of 21 Vincotech Table of Contents TIAroduenoh amuosmugunmemmm m medvind 5 1 1 Serial Port Comigufaloha mvernanirdsmnddniiegdetndbd dvdendsldendedud seg 5 2 Standard NMEA Sentences sicisissrcsisrissisisusssisicusasisiasuscsisicudsnidududidisidudiainadusiainann 6 PE git core ie 0 A e A T 6 2 2 Supported NMEA Sentences rrrnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnennnnnnnnnn 6 2 2 1 GGA Global Positioning System Fix Data rrnnnnnnnvnnnrnnnvnnnnnrnnvnnnnnrrrrnnnnnnnnrrenennnnnn 7 2 2 2 VTG Course Over Ground and Ground Speed mrrrrnrnrnnvvnnrnrnnrnnnrrrrrrrnnnrrrrrrenrernnnn 8 2 2 3 RMC Recommended Minimum Specific GPS Data rrnnrrnnnnnnnvnnnnnnnnvnnnnnnrrrrnnnrrnnnn 9 2 2 4 GSA GPS DOP and Active Satellites rrrrnnnnnnnrornnnnnnrvnnnnnnnvnnnr
7. Wincotech GPS Firmware A1080 amp A1035 D A Description of the standard NMEA GPS firmware provided on Vincotech s GPS modules A1080 and A1035 D User s Manual Version 4 1 Firmware Revision 3 2 5 Revision History Winescech Rev Date Description 1 0 10 18 06 Initial draft 2 0 04 02 07 New design 3 0 07 03 07 Reworked manual NMEA only 4 0 08 19 08 New layout moved to Vincotech 4 1 11 25 08 Minor corrections mm dd yy V4 1 08 11 User s Manual Page 2 of 21 Vincotech Disclaimer THIS DOCUMENT CONTAINS PROPRIETARY INFORMATION OF VINCOTECH GMBH IT MAY NOT BE COPIED OR TRANSMITTED BY ANY MEANS PASSED TO OTHERS OR STORED IN ANY RETRIEVAL SYSTEM OR MEDIA WITHOUT PRIOR CONSENT OF VINCOTECH OR ITS AUTHORIZED AGENTS THE INFORMATION IN THIS DOCUMENT IS TO THE BEST OF OUR KNOWLEDGE ENTIRELY CORRECT HOWEVER VINCOTECH CAN NEITHER ACCEPT LIABILITY FOR ANY INACCURACIES OR THE CONSEQUENCES THEREOF NOR FOR ANY LIABILITY ARISING FROM THE USE OR APPLICATION OF ANY CIRCUIT PRODUCT OR EXAMPLE SHOWN IN THE DOCUMENT THE PRODUCT HARD AND SOFTWARE DESCRIBED IN THIS DOCUMEN TATION IS NOT AUTHORIZED FOR USE IN LIFE SUPPORT DEVICES OR SYSTEMS WITHOUT THE EXPRESS WRITTEN APPROVAL OF VINCOTECH THIS DOCUMENT MAY PROVIDE LINKS TO OTHER WORLD WIDE WEB SITES OR RESOURCES BECAUSE VINCOTECH HAS NO CONTROL OVER SUCH SITES AND RESOURCES VINCOTECH SHALL NOT BE RESPONSIBLE FOR THE AVAI
8. ated Vincotech GmbH Bibergerstr 93 82008 Unterhaching Munich Germany Tel 49 89 8780 67 0 Fax 49 89 8780 67 351 gps vincotech com www vincotech com gps 4 2 Related Documents GPS Firmware A1080 Vincotech GPS Evaluation Kit EVA1080 Vincotech GPS AppNote EDLC Backup A1080 Vincotech GPS AppNote Backup A1080 Vincotech GPS AppNote GeoHelix Antenna A1080 Vincotech GPS AppNote Firmware A1080 Vincotech GPS AppNote nRST A1080 Vincotech GPS AppNote RF shield A1080 Vincotech GPS AppNote 1PPS Pulse Width Vincotech GPS AppNote ResetControl A1080 Vincotech V4 1 08 11 User s Manual Page 20 of 21 Vincotech 5 List of Tables Table 1 GGA example and description cccccceeeeeeeeeeeeeeeeeeeeeeeeeeeeeeneeeeeeeeeeeeeees 7 Table 2 VTG example and description ccccceeeeeeeeeeeeneeeeeeeeeeeeeeeeeeneeeeeeeeeeeteees 8 Table 3 RMC example and description eerrnnnnnnnornnnnnrrrrnnnnnnnnrrnnnnnrrrrnnennnssrrnnnnnnn 9 Table 4 GSA example and description rrrrrrvrnnnnnnrrnnnnvrrrrnnnnnnnnnrrnnnnrrrrnnnnenenennn 10 Table 5 GSV example and description nnrvnonnnnnnnnnnnnnnnnrnnnnnnnnnnnrnnnnnnnnnnnnnnnnnnnn 11 Table 6 GLL example and description nnrnnonnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn 12 Table 7 NMEA Input Messages nnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnne 14 Table 8 Serial Port SUP uskadde dd 14 Table 9
9. ge identifier 2 3723 2475 Latitude 37deg 23 2475min N North EP irs S South 4 12158 3416 Longitude 121deg 58 3416min W West i e E East 6 161229 487 UTC Universal Time Coordinated 16h 12m 29 487s A Data valid diii V Data not valid A Autonomous mode 8 A D DGPS mode E DR mode 9 41 Checksum Table 6 GLL example and description V4 1 08 11 User s Manual Page 12 of 21 Vincotech 3 Proprietary NMEA Sentences NMEA input messages enable you to control the receiver while in NMEA protocol mode By default the receiver is configured for NMEA mode on port 0 Messages can be sent by using a terminal program by using Vincotech s GPS Cockpit soft ware or the SIRF demo software If the receiver is in SiRF binary mode all NMEA input messages are ignored Once the receiver is put into NMEA mode the follow ing messages may be used to command the module All settings transmitted by NMEA or binary messages are stored in SRAM As long as Vcc or Vbak is supplied the settings are maintained The GPS receiver falls back to factory settings in case Vcc or Vbak is not supplied properly 3 1 Transport Message Device manufacturer define extensions of the standard NMEA protocol or sen tences thereof e The general format is lt vendor gt lt MID gt lt parameters gt lt cksum gt lt CR gt lt LF gt Vendor A1080 is using PSRF MID Message identifier consisting of three numeric characters Inpu
10. nation Table 11 Query Rate Control Data Format See example 1 Value Description 0 GGA 1 GLL 2 GSA 3 GSV 4 RMC 5 VTG 6 MSS If internal beacon is supported 7 Not defined 8 ZDA if 1PPS output is supported 9 Not defined Table 12 NMEA Messages V4 1 08 11 User s Manual Page 16 of 21 Vincotech Note Please consider max transfer rate depending on baud rate setting before activating additional NMEA sentences Note In TricklePower mode update rate is specified by the user When switching to NMEA protocol the message update rate is also required The resulting update rate is the product of the TricklePower update rate and the NMEA update rate i e TricklePower update rate 2 seconds NMEA update rate 5 seconds resulting update rate is every 10 seconds 2 x 5 10 V4 1 08 11 User s Manual Page 17 of 21 Vineotech 3 6 Development Data On Off Use this command to enable development data information if you are having trouble getting commands accepted Invalid commands generate debug information that enables you to determine the source of the command rejection Common reasons for input command rejection are invalid checksum or parameter out of specified range Table 3 10 contains the input values for the following examples 1 Debug On e PSRF105 1 3E 2 Debug Off e PSRF105 0 3F Name Example Description Message ID PSRF105 PSRF1
11. nnnnvnnnnrrnrnnnnnennr 10 2 2 5 GSV GPS Satellites in View sen 11 2 2 6 GLL Latitude Longitude UTC and status rrrerrrnrrnnnnrrrrvrnrernrrrnrrrnnnrnnnrrrrrrrrrnnnnnn 12 3 Proprietary NMEA Sentences rnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn 13 3 1 Transport Message Lanasansnnnuemimdmnnjend tiuijniedaest divtne 13 3 2 NMEA Input Messages rrrrnnnnnnnnnnnnnnrrrnnnnnnnnnrrnnnnnrrnnnnnnennsrnnnnnvrnnnnneenensernnnnnnn 14 3 3 Serial Port SEIP Ladere eetdadd died dannede 14 3 4 Reset Configuration SiRF s original NavigationInitialiZation x22 n gt 15 3 5 Query FATS COnkroluLnunnusmmimnmnen vu dejvamdigennedde neetamidasade 16 3 6 Development Data On Off nnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnennnnnnnnnn 18 3 7 RTP ve 19 4 Related Informaldn uisesksasnmuskgeeamtaknemnnmnndnmeknande 20 EEE EEE 20 4 2 Related Documents Luumsjredmmaesimnpidn nitti 20 5 List of Tables cuataa ncgcusgentesungencanuaeanra usentasuaansa usuantasunuantanusuantasutuantenutveutesucuautins 21 V4 1 08 11 User s Manual Page 4 of 21 Vincotech 1 Introduction This document contains a description of NMEA output sentences and NMEA com mands which are implemented in the standard GPS firmware used in the GPS modules A1080 and A1035 D Only fully available commands are described For more details of the original SiRF firmware please see chapter 4 2 Related Docu ments The p
12. t Messages begin at MID 100 Parameters Message specific parameters refer to a specific section for lt data gt lt data gt definition Cksum Two hex character checksum as defined in the NMEA specifi cation Use of checksum is required on all input messages lt CR gt lt LF gt A Carriage Return and Line Feed is mandatory to complete the NMEA message Note1 All fields in all proprietary NMEA messages are required none are optional All NMEA messages are comma delimited Note2 Both GPS Cockpit and SIRF demo software support the calculation of a checksum V4 1 08 11 User s Manual Page 13 of 21 Winescech 3 2 NMEA Input Messages The following NMEA input messages are supported Message MID Description Set serial port 100 Set Port 0 parameters and protocol Reset Configuration 101 Initialize various start up behaviors Query rate control 103 Query standard NMEA message and or set out put rate Development data On Off 105 Development Data messages On Off Select Datum 106 Selection of datum to be used for coordinate transformting 1 Message Identification MID Table 7 NMEA Input Messages Note NMEA input messages 100 to 106 are SiRF proprietary NMEA messages 3 3 Serial Port Set up This command message is used to set the protocol SIRF binary or NMEA and or the communication parameters baud rate data bits stop bits and parity Gener ally this command
13. ted 09h 25m 16 000s 3 A A Fix valid V for invalid or no fix 4 4805 8021 Latitude 48deg 05 8021 min N North BIN S South 6 01132 2243 Longitude 011deg 32 2243min E East al W West 8 1 91 Speed over ground in knots 9 183 81 Course over ground degrees true 10 270302 Date ddmmyy 27 March 2002 11 10 0 Magnetic variation degrees W West 1 ae E East A Autonomous mode 13 A D Differential Mode E Estimated dead reckoning 14 7B Checksum 1 SIRF Technology Inc does not support magnetic declination All course over ground data are geodetic WGS84 directions Table 3 RMC example and description V4 1 08 11 User s Manual Page 9 of 21 Winescech 2 2 4 GSA GPS DOP and Active Satellites e g GPGSA A 3 03 20 14 31 3 7 2 5 2 8 3D 1 GPGSA Vendor and message identifier 2 A A 2D automatic allowed to automatically switch 2D 3D M Manual forced to operate in 2D or 3D mode 1 Fix not available 3 3 2 2D fix lt 4 SVs used 3 3D fix gt 3 SVs used 4 03 ID of satellite used in 1 channel 5 20 ID of satellite used in 2 channel 23 lt empty gt ID of satellite used in 12 channel 24 3 7 PDOP in meters 25 2 5 HDOP in meters 26 2 8 VDOP in meters 27 3D Checksum Table 4 GSA example and description V4 1 08 11 User s Manual Page 10 of 21 Winescech 2 2 5 GSV GPS Satellites in View
14. ted from a vendor in sentences with a maxi mum length of 80 characters e The general format is lt vendor gt lt message gt lt parameters gt lt checksum gt lt CR gt lt LF gt e The combination of lt vendor gt lt message gt is called address field e The vendor code for the Global Positioning System is GP e In this document NMEA sentences refer to the NMEA 0183 Standard For details see http www nmea org http www nmea org pub index html 2 2 Supported NMEA Sentences The Vincotech s GPS firmware currently supports 6 NMEA sentences GPGGA default ON GPVTG default OFF GPRMC default ON GPGSA default ON GPGSV default ON 0 2Hz GPGLL default OFF Note Please consider max transfer rate depending on baud rate setting before activating additional NMEA sentences The following paragraphs give an overview of NMEA messages with example strings and short explanation V4 1 08 11 User s Manual Page 6 of 21 Winescech 2 2 1 GGA Global Positioning System Fix Data e g SGPGGA 152145 000 4805 8193 N 01132 2317 E 1 04 2 5 607 5 M 47 6 M 67 1 GPGGA Vendor and message identifier 2 152145 000 Universal time coordinated 15h 21m 45 000s 3 4805 8193 Latitude 48deg 05 8193min N North a S South 5 01132 2317 Longitude 011deg 32 2317min E East PE W West Fix quality 0 fix not valid or in
15. urpose of this paper is the explanation of the behavior of the NMEA inter face i e a description of the outputs coming from this interface and a summary of the commands that can be issued to this interface This will allow easy and full ad justment and control of the module 1 1 Serial Port Configuration The firmware supports the bi directional serial interface of Vincotech s GPS module It is implemented by use of the full duplex UART Universal Asynchronous Receiver Transmitter interface of the GPS processor e For the communication with UART the use of a kind of terminal program or another appropriate method is necessary e NMEA communication is always on port 0 pin Tx0 and Rx0 of the module or on the serial USB port of the EVA1080 A Demo Kit respectively e The default configuration of this serial port is 4800 baud 8 data bits no par ity 1 stop bit no flow control This interface is bi directional i e on the one side the output of the GPS modules NMEA sentences etc is sent to the UART interface on the other side the UART interface can be used to send commands to Vincotech s GPS modules V4 1 08 11 User s Manual Page 5 of 21 Wineotach 2 Standard NMEA Sentences 2 1 Introduction The National Marine Electronics Association created a uniform interface standard for digital data exchange between different marine electronic products back in the early nineteen eighties e NMEA information is transmit
16. valid 7 1 1 GPS SPS mode fix valid 2 Differential GPS SPS mode fix valid 8 04 Four satellites in use min 00 max 12 9 2 5 Horizontal dilution of precision 10 607 5 MSL altitude 11 M Unit of antenna altitude meters 12 47 6 Geoidal separation 13 M Unit of geoidal separation meters 14 lt empty gt Age of differential GPS data null field when DGPS is not used 15 lt empty gt Differential reference station ID null field when DGPS is not used 16 67 Checksum Table 1 GGA example and description V4 1 08 11 User s Manual Page 7 of 21 2 2 2 VTG Course Over Ground and Ground Speed Winescech e g GPVTG 169 31 T M 0 31 N 0 5 K A 6B 1 GPVTG Vendor and message identifier 2 169 31 Track degrees 3 IT True 4 lt empty gt Track degrees 5 M Magnetic 6 0 31 Horizontal speed knots 7 N Knots 8 0 5 Horizontal speed kilometers per hour 9 K Kilometers per hour A Autonomous mode 10 A D Differential mode E Estimated dead reckoning 11 6B Checksum Table 2 VTG example and description V4 1 08 11 User s Manual Page 8 of 21 Winescech 2 2 3 RMC Recommended Minimum Specific GPS Data e g GPRMC 092516 000 A 4805 8021 N 01132 2243 E 1 91 183 81 270302 0 0 W A 7B 1 GPRMC Vendor and message identifier 2 092516 000 UTC Universal Time Coordina
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