GPS35190 - User`s Manual - RTD Embedded Technologies, Inc.
Contents
1. sess 10 Limited Warranty RTD Embedded Technologies Inc www rtd com Accessing the Analog World GPS25165HR GPS35165HR User s Manual Table of Figures Accessing the Analog World Figure 1 Board APIS E 10 HEEN 11 gie iz gll E nis o enna ne he ee ee 13 Fig re 4 IDAN MIN le 14 Figure 5 Example IDAN SYSTEM eege 15 Figure Eelere BIOCK KI Le 16 Figure 7 Accelerometer Orientation E 18 Figure EEN 18 Figure 9 Magnetometer Orientation suiit od P RR Et ER E M RU E Uu Ae 18 Table of Tables Tae E OTN O d T ON 7 Table 2 Operating M net e CN 9 Table 3 Electrical Characteristics ccccccscssssesssesssscssssssesssscsssecscsssecsssesscsesessesesecsssessssssesausesassesessusesassusesaesesassusesaesesassusesausesassesesaesesassusesaseesasaees 9 Table 4 CNZ IWHBART RS 232 e coesiexitites nt s e traten BRE H fnit ne eria Reate e Eres ERIS ER etur R Pad HAT UU 12 Eeer PR er 12 IE eise tte PT A 12 IERI ECC C OE 12 Table 8 Sensor Interface Command et 19 Table 9 MPL Command MG 8 e jc E 20 Table 10 LSM Command Options E 20 Table 11 CAL Command Opttons anneren 20 RTD Embedded Technologies Inc www td com vi GPS25165HR GPS35165HR User s Manual Acce2. board and can connect to either a Type 1 or Type 2 PCle 104 connector 4 3 2 EXTERNAL IO CONNECTORS RTD Embedded Technologies Inc www rtd com 14 GPS25165HR GPS35165HR User s Manual Accessing the Analog World 44 Steps for Installing Always work at an ESD protected workstation and wear a grounded wrist strap Turn off power to the IDAN system Remove the module from its anti static bag Check that pins of the bus connector are properly positioned Check the stacking order make sure all of the busses used by the peripheral cards are connected to the couModule Hold the module by its edges and orient it so the bus connector pins line up with the matching connector on the stack Gently and evenly press the module onto the IDAN system If any boards are to be stacked above this module install them Finish assembling the IDAN stack by installing screws of an appropriate length Attach any necessary cables to the IDAN system Re connect the power cord and apply power to the stack Boot the system and verify that all of the hardware is working properly o oo St oe SS qux cx _ r Figure 5 Example IDAN System RTD Embedded Technologies Inc www rtd com 15 GPS 25165HR GPS35165HR User s Manual Accessing the Analog World 5 Functional Description 9 1 Block Diagram The Figure below shows the functional block diagram of the GPS35165 The various parts of the block diagram are discussed in
3. 0853 Example Mating Connector Amp 901 9877 RFX Note CN8 is for Factory Use only 3 3 3 JUMPERS JP1 GPS Antenna Bias JP1 is used to select the antenna bias level The available bias levels are shown in Table 6 Table 6 JP3 Settings Ct 3 3V Bias Antenna Factory default Open Passive Antena iP JP2 1 PPS on Carrier Detect JP2 is used to connect disconnect the 1 PPS signal from UART 1 carrier detect The options are shown in Table 7 5V Bias Antenna Table 7 JP4 Settings IPPS is connected to the UART 1 CD Factory default Eo 1PPS is disconnected from UART 1 CD 3 3 4 LEDs D1 GPS Fix LED D1 shows if the GPS has a 3D fix The LED will be on if the GPS has a fix D2 1PPS LED D2 shows the status of the GPS s 1PPS signal RTD Embedded Technologies Inc www rtd com 12 GPS25165HR GPS35165HR User s Manual Accessing the Analog World 3 4 Steps for Installing Always work at an ESD protected workstation and wear a grounded wrist strap Turn off power to the PC 104 system or stack Select and install stand offs to properly position the module on the stack Remove the module from its anti static bag Check that pins of the bus connector are properly positioned Check the stacking order make sure all of the busses used by the peripheral cards are connected to the cpuModule Hold the module by its edges and orient it so the bus connector pins line up with the matching connector on the stac
4. MTSAT Satellite Based Augmentation System GAGAN GPS Aided Geo Augmented Navigation e Supports active 3 3V or 5V and passive antennas e l2C Sensor Interface via COM port o lnertial Sensor Module 3 axis digital compass 3 axis accelerometer 3 axis gyroscope o Altimeter Barometer Module e Requires only 5 VDC for operation 1 3 Ordering Information The GPS35165 is available with the following options Table 1 Ordering Options Part Number Description GPS35165HR PCle 104 GPS Receiver with Linx RXM GNSS TM GPS Engine SK GPS35165HR Starter Kit including GPS35165HR adapter cable and antenna RTD Embedded Technologies Inc www rtd com T GPS25165HR GPS35165HR User s Manual Accessing the Analog World Table 1 Ordering Options Part Number Description EN GPS25165HR PCI 104 Express GPS Receiver with Linx RXM GNSS TM GPS Enaine SK GPS25165HR Starter Kit including GPS25165HR adapter cable and antenna The Intelligent Data Acquisition Node IDAN building block can be used in just about any combination with other IDAN building blocks to create a simple but rugged 104 stack This module can also be incorporated in a custom built RTD HIDAN or HiDANplus High Reliability Intelligent Data Acquisition Node Contact RTD sales for more information on our high reliability systems 1 4 Contact Information 1 4 1 SALES SUPPORT For sales inquiries you can contact RTD Embedded Tech
5. The positive y axis is facing the north side of the board the side opposite of the PCle connector The positive z axis is going out of the top side of the board The gyroscope s axis orientation is the same as the accelerometer The positive rotation of the gyroscope is counterclockwise around the direction s positive axis when facing out towards you The magnetometer axis orientation is the same as the accelerometer however the positive z axis is going into the top side of PCB board See figures below RTD Embedded Technologies Inc www rtd com 17 GPS25165HR GPS35165HR User s Manual Figure 7 Accelerometer Orientation Figure 8 Gyroscope Orientation Figure 9 Magnetometer Orientation Sensor Calibration The GPS35165 loads offset calibration on the gyroscope and accelerometer on power on The accelerometer is calibrated so it measures 1 g towards the Earth The accelerometer calibration needs to be performed on a flat surface with the positive z axis facing up The gyroscope calibration zem e all axes this is performed at the same time as the accelerometer Both sensors will be factory calibrated however they may need to be recalibrated based on the system The GPS35165 also loads offset calibration for magnetometer on power on The magnetometer is effect by surround magnetic fields thus needs calibrated To calibrate this sensor the system needs to be slowly rotated around each of the three axes This sensor is factory calibrat
6. copy of the latest PC 104 specifications can be found on the webpage for the PC 104 Embedded Consortium WWW pc104 org 9 2 PCI and PCI Express Specification A copy of the latest PCI and PCI Express specifications can be found on the webpage for the PCI Special Interest Group WWW pcisig com RTD Embedded Technologies Inc www rtd com 24 GPS25165HR GPS35165HR User s Manual Accessing the Analog World 10 Limited Warranty RTD Embedded Technologies Inc warrants the hardware and software products it manufactures and produces to be free from defects in materials and workmanship for one year following the date of shipment from RTD Embedded Technologies Inc This warranty is limited to the original purchaser of product and is not transferable During the one year warranty period RTD Embedded Technologies will repair or replace at its option any defective products or parts at no additional charge provided that the product is returned shipping prepaid to RTD Embedded Technologies All replaced parts and products become the property of RTD Embedded Technologies Before returning any product for repair customers are required to contact the factory for a Return Material Authorization RMA number This limited warranty does not extend to any products which have been damaged as a result of accident misuse abuse such as use of incorrect input voltages improper or insufficient ventilation failure to follow the operating instru
7. gt is the close tag for the LSM block lt MPL ts 10d gt is generated when the altimeter barometric sensor is enabled and data is available lt AL gt lt AL gt is generated if in altimeter mode and data is available and sent lt P gt lt P gt is generated if in barometric mode and data is available and sent lt T gt lt T gt this is the temperature tag This is generated every time barometric or altimeter data is available and sent lt MPL gt is the close tag for the MPL block lt ID BUILD 9os PDP s gt this is the tag generated when using the ID command It provides a build number and PDP number CMD RESPONSE CMD command this tag is generated when a command is issued The data of tag describes if the command was processed or not lt CMD_RESPONSE gt is the close tag for the CMD RESPONSE block NOTE Not all tags are guaranteed to be present at each ts interval based on user settings 6 2 CommandList Below is a list of valid serial commands that are used to communicate to the microcontroller and sensors All commands must end with return character r to be processed Syntax is not case sensitive By default all sensors are disabled at power on Once a command has been entered please wait for the system responses with the command tag before processing additional commands The command tag will have a data value of INVALID when invalid commands or an OK when the command is valid Table 8 Sensor
8. the following sections CN5 GPS Antenna GPS Module Bord CN4 Utility GPS Fix LED uP 1PPS LED PCle Inertial Sensor UART Altimeter Sensor PCle Bus CN Serial Figure 6 GPS35165 Block Diagram 5 2 PCIeUART The GPS35165 provides a UART interface to the PCle bus that connects to a GPS a sensor interface and a serial connector CN7 There are four independent UARTs that are connected as follows UART 1 to GPS UART 2 to Sensor Interface UART 3 to CN7 UART 4 is unused 9 2 1 GPS INTERFACE Integrated on the GPS35165 is a Linx RXM GNSS TX a low power fast fix 33 channel GPS receiver This GPS receiver is especially designed for portable and mobile applications The Linx RXM GNSS TM provides NMEA 0183 version 4 10 data and a 1 PPS signal A complete list of NMEA Messages and command messages is available from the manufacturer s website at www linxtechnologies com RTD Embedded Technologies Inc www rtd com 16 GPS25165HR GPS35165HR User s Manual Accessing the Analog World GPS module interface The RXM GNSS TM GPS is connected to the host computer through a dedicated serial port The default configuration for the serial port is 9600 Baud 8 Data bits No parity 1 Stop bit No Flow Control GPS Antenna Most GPS antennas are active which means they have a low noise amplifier LNA built into the antenna that requires a power source for the GPS module While the GPS35165 will work with a passive ante
9. 3 2 External I O Connectors CN7 Serial I O Connector CNA Utility Connector CN5 GPS Antenna Connector 3 3 3 Jumpers JP1 GPS Antenna Bias JP2 1 PPS on Carrier Detect 3 3 4 LEDs D1 GPS Fix LED D2 1PPS LED 3 4 Steps for Installing ssssseeenenennnnnnnnnnnnnnnnnn 4 IDAN Connections 4 1 Module Handling Precautions sn 4 2 Niege Ee Ee 4 3 See eeneg 4 3 1 Bus Connectors CN1 Top amp CN2 Bottom PCle Connector 4 3 2 External I O Connectors 4 4 Steps for Installing e 5 Functional Description 5 1 s ere UU Tz let 5 2 Ne WE 5 2 1 GPS Interface GPS module interface GPS Antenna 5 2 2 Sensor Interface Sensor Interface UART Settings Inertial Sensor Altimeter Barometer sensor 6 Sensor Commands Interface 6 1 Data Fold s coerente tpa E RR EE RTD Embedded Technologies Inc www rtd com IV Accessing the Analog World GPS25165HR GPS35165HR User s Manual 6 2 7 Software T 1 7 2 7 3 Will 6 2 1 MPL Command Options 6 2 2 LSM Command Options 6 2 3 CAL Command Options Installing the Software seen Software Programming ccccsecsscccsesesscsssscscsesscssesecseecessesessssesessesessesees 7 2 1 API Interface 7 2 2 COM Port Numbering 7 2 3 Base Address and Register Mapping ja Te OTA RR 8 Troubleshooting 9 Additional Information 9 1 9 2 PC 104 Gpechcatons PCI and PCI Express Specification
10. GPS25165HR GPS35165HR PCle 104 GPS Receiver and 9DoF Sensor User s Manual BDM 610020124 Rev A R61 Powe R64 Bows R6299a3 t bd N na pa mr i iet trim e u19 RUSS 103 4444 ke sa C80 RERRRE e e ARA an LL serzee C i D E Tha PM ba UA FBS UH II scacagecccegecenctls ELLLLLLLLLLLLLLLLLLLLL IL Gitoreszezstrsztrssrrssr MANM UG COM RTD Embedded Technologies Inc AS9100 and ISO 9001 Certified UA HID EwpeQqoeq Lecuexngd uc Payeeeer metu RTD Embedded Technologies Inc 103 Innovation Boulevard State College PA 16803 USA Telephone 814 234 8087 Fax 814 234 5218 www rtd com sales rtd com techsupport rtd com Ka V asooo lt V 1809001 JU Accessing the Analog World Revision History Rev A Initial Release Advanced Analog I O Advanced Digital I O aAIO aDIO a2DIO Autonomous SmartCal Catch the Express cpuModule dspFramework dspModule expressMate ExpressPlatform HiDANplus MIL Value for COTS prices multiPort PlatformBus and PC 104EZ are trademarks and Accessing the Analog World dataModule IDAN HiDAN RTD and the RTD logo are registered trademarks of RTD Embedded Technologies Inc formerly Real Time Devices Inc PS 2 is a trademark of International Business Machines Inc PCI PCI Express and PCle are trademarks of PCI SIG PC 104 PC 104 Plus PCI 104 PCle 104 PCI 104 Express and 104 are trademarks of the PC 104 Embedd
11. Interface Command List Command Syntax and Example Input s Descriptions Display Onscreen Help This disables all sensors This does not produce a GPS35165 DATA when command is issued D 3 3 Displays firmware information about the devices IMPL MPL n val m val r val Configures the MPL3115A2 sensor MPL n 1 See MPL Commands for all command options RTD Embedded Technologies Inc www rtd com 19 GPS25165HR GPS35165HR User s Manual Accessing the Analog World Table 8 Sensor Interface Command List ILSM LSM n val m val g val a val r val t val e val Configures the LSM9DSO sensor LSM n 1 m 2 g 245 a 2 r 50 t 4 e 100 See LSM Commands for all command options ICAL option val Sensor Calibration Options ICAL E See CAL Options for all command options It takes 25ms for a power cycle 6 2 1 MPL COMMAND OPTIONS MPL command options are listed below More than one command option can be entered at a time Table 9 MPL Command Options mma Turns the MPL3115A2 Sensor On Off 0 Barometer Configures the MPL3115A2 for either Barometer or Altimeter Mode 1 Altimeter Default Altimeter 1 2 4 8 16 32 64 128 Configures the MPL3115A2 oversample rate The sample rate at 1 is 100Hz Default 128 6 2 2 LSM COMMAND OPTIONS LSM command options are listed below More than one command option can be entered at a time Table 10 LSM Command Options O
12. Technologies Inc www rtd com Accessing the Analog World 7 Software 1 1 Installing the Software The GPS35165 uses a PCle UART which will require software and drivers for proper operation Drivers are provided for Windows XP 7 DOS and Linux with pre 3 8 kernels The UART is supported in 3 8 kernels The drivers are provided on the companion CD and are also available on the RTD web site http www rtd com for download 7 2 Software Programming 1 2 1 API INTERFACE Once the drivers for the GPS35165 have been properly loaded all ports should be available as standard serial ports All ports can then be controlled using the standard serial port interfaces built into the operating system A description of serial port programming for operating systems is beyond the scope of this manual Consult the operating system documentation for information on how to interface with serial ports via software 7 2 2 COM PORT NUMBERING Serial ports aka COM ports are typically assigned numbers by the operating system e g COM1 These numbers are typically dynamically assigned by the operating system However different applications may enumerate the COM ports differently assigning different port numbers e g COM3 10 vs COM5 12 When developing your own serial port application consult your operating system s documentation for the proper method of enumerating COM ports Note Some applications are written to assume that no more than
13. ctions that are provided by RTD Embedded Technologies acts of God or other contingencies beyond the control of RTD Embedded Technologies or as a result of service or modification by anyone other than RTD Embedded Technologies Except as expressly set forth above no other warranties are expressed or implied including but not limited to any implied warranties of merchantability and fitness for a particular purpose and RTD Embedded Technologies expressly disclaims all warranties not stated herein All implied warranties including implied warranties for merchantability and fitness for a particular purpose are limited to the duration of this warranty In the event the product is not free from defects as warranted above the purchaser s sole remedy shall be repair or replacement as provided above Under no circumstances will RTD Embedded Technologies be liable to the purchaser or any user for any damages including any incidental or consequential damages expenses lost profits lost savings or other damages arising out of the use or inability to use the product Some states do not allow the exclusion or limitation of incidental or consequential damages for consumer products and some states do not allow limitations on how long an implied warranty lasts so the above limitations or exclusions may not apply to you This warranty gives you specific legal rights and you may also have other rights which vary from state to state RTD Embedded Technologi
14. e found in the Sensor Interface UART Settings section page 17 NOTE When using under Windows the GPS may be incorrectly detected as a Serial Mouse causing erratic mouse cursor behavior This issue has been documented by Microsoft For more information refer to Microsoft Knowledge Base Article 283063 RTD Embedded Technologies Inc www rtd com 22 GPS25165HR GPS35165HR User s Manual Accessing the Analog World 8 Troubleshooting If you are having problems with your system please try the following initial steps e Simplify the System Remove modules one at a time from your system to see if there is a specific module that is causing a problem Perform you troubleshooting with the least number of modules in the system possible e Swap Components Try replacing parts in the system one at a time with similar parts to determine if a part is faulty or if a type of part is configured incorrectly If problems persist or you have questions about configuring this product contact RTD Embedded Technologies via the following methods Phone 1 814 234 8087 E Mail techsupport grtd com Be sure to check the RTD web site http www rtd com frequently for product updates including newer versions of the board manual and application software RTD Embedded Technologies Inc www rtd com 23 GPS25165HR GPS35165HR User s Manual Accessing the Analog World 9 Additional Information 9 1 PC 104 Specifications A
15. ed however they may need to be recalibrated based on the system Altimeter Barometer sensor The Altimeter Barometer sensor employs a MEMS pressure sensor that provides accurate pressure altitude and temperature data This sensor reads the absolute pressure and then is processed to provide a scaled pressure or an altitude depending on the mode selected When in Barometer mode all data is reported as 20 bit unsigned data in Pascal When in Altimeter mode all data is converted to equivalent altitude based on the US standard atmosphere and then stored as 20 bit Ze complement value in meters Currently altitude is calculated using 101 326 Pa as the local barometric pressure correction Pressure Conversion Altitude Conversion Pressure Data Altitude Data Value Value n 3 The temperature sensor provides a 12 bit Ze complement value in Celsius Temperature Conversion Temperature Data 16 Value RTD Embedded Technologies Inc www rtd com 18 GPS25165HR GPS35165HR User s Manual Accessing the Analog World 6 Sensor Commands Interface The GPS35165 communicates to the inertial and altimeter sensor over serial using the 2 UART port This board features LSM9DSO 9DoF inertial sensor that has 3D accelerometer 3D gyroscope and 3D magnetometer and also MPL3115A2 altimeter barometer sensor This data is reported back to the user in XML format to allow ease of parsing the serial stream Default sensor interface seria
16. ed Consortium All other trademarks appearing in this document are the property of their respective owners Failure to follow the instructions found in this manual may result in damage to the product described in this manual or other components of the system The procedure set forth in this manual shall only be performed by persons qualified to service electronic equipment Contents and specifications within this manual are given without warranty and are subject to change without notice RTD Embedded Technologies Inc shall not be liable for errors or omissions in this manual or for any loss damage or injury in connection with the use of this manual Copyright 2015 by RTD Embedded Technologies Inc All rights reserved RTD Embedded Technologies Inc WWW rtd com lil GPS25165HR GPS35165HR User s Manual Table of Contents 1 Introduction 1 1 Produc OVENI W anann NS 1 2 Bodd Feal c exceucas sa senesauancnsanaseeacis aanssaas domes anon ance 1 3 Bi IERI NINE TO o Oo T 1 4 Contact iem uer 1 4 1 Sales Support 1 4 2 Technical Support 2 Specifications 2 1 Operating CONCIIONS usiscencasi citet rixa YI MIRI NR I HEISE MORS DSL 2 2 Electrical Characteristics ssssssenn nes 3 Board Connection 3 1 Board Handling Precautions ssssssnnnnnnes 3 2 We RE ee 3 3 Belle eeler 3 5 1 Bus Connectors CN1 Top amp CN2 Bottom PCle Connector CN3 PCI Connector GPS25165HR Only 3
17. es Inc www rtd com 25 GPS25165HR GP S35165HR User s Manual RTD Embedded Technologies Inc 103 Innovation Boulevard State College PA 16803 USA Telephone 814 234 8087 Fax 814 234 5218 www rtd com sales rtd com techsupport rtd com Represents all cpu s pres To 15 we In systems capable of hotp eri as new cpu s are detected E IDANS H aman d mme gt method such as ACPI for cpumask t cpu present map _ 1 EXPORT SYMBOL cpu present map ifndef CONFIG SMP Represents all cpu s that v AS9100 V 1S0 9001 Copyright 2015 by RTD Embedded Technologies Inc All rights reserved
18. ff Turns the LSM9DSO Sensor On Off 1 On Default 2 Configures the gyroscope angular rate full scale Default 245 ee aerem Default 2 Default 12 0 Disabled Configures the gyroscopes update rate 1 95Hz 12 5Hz BW BW is the anti alias filter bandwidth 2 95Hz 25Hz BW Default 190Hz 12 5Hz BW 3 190Hz 12 5Hz BW 4 190Hz 25Hz BW 5 190Hz 50Hz BW 6 190Hz 70Hz BW E 0 3 6 12 25 50 100 200 Configures the accelerometer update rate Default 200 6 2 3 CAL COMMAND OPTIONS CAL command options are listed below Only one command option can be entered at a time Table 11 CAL Command Options L o Magnetometer Loads calibration settings stored in flash 1 Accelerometer amp Gyroscope 2 All S 0 Magnetometer Saves calibration settings in flash 1 Accelerometer amp Gyroscope Warning this overwrites previous stored calibration settings 2 Al RTD Embedded Technologies Inc www rtd com 20 GPS25165HR GPS35165HR User s Manual 0 Magnetometer 1 Accelerometer amp Gyroscope Accessing the Analog World Table 11 CAL Command Options Runs calibration test Magnetometer test requires rotating the system slowly around all 3 axes Press the Enter Key to Continue after you finish rotating the system Accelerometer amp Gyroscope require the system to be place on A flat surface with the positive z axis pointing 21 GPS 25165HR GPS35165HR User s Manual RTD Embedded
19. four COM ports are present in a system These applications may have compatibility issues with the Exar PCle UART 1 2 3 BASE ADDRESS AND REGISTER MAPPING The GPS35165 exposes all of the registers available on the Exar XR17V358 The register set of the XR17V358 mimics the standard 16C550 UART register map However the XR17V358 contains some additional registers not found in a typical ISA based UART Additionally the base address of the GPS35165 s serial ports will be different than the standard PC serial port locations Ox3F8 Ox2F8 etc The GPS35165 is a memory mapped device Since it is PCl based it may be mapped to any location within the address space of the CPU The base address of PCI devices is determined by the CPU s BIOS and operating system at boot time The register level differences between the GPS35165 and a standard 167550 UART should be abstracted via the software drivers Most users will not need to concern themselves with the actual registers of the board If one is interested in directly accessing the registers of the board consult the XR17V358 data sheet available from Exar 7 3 Windows When using the GPS35165 a terminal emulator can be used to communicate with the GPS and sensor interface Since HyperTerminal is no longer provided with Windows we recommend the using Real Term or Tera Term Default GPS serial settings can be found in the GPS module interface section page 17 Default sensor interface serial settings can b
20. ifferential RX Impedance 1 1 0 80 14100 J Electrical de Detect Threshold LI 65 lm RTD Embedded Technologies Inc www td com 9 GPS 25165HR GPS35165HR User s Manual Accessing the Analog World 3 Board Connection 3 1 Board Handling Precautions To prevent damage due to Electrostatic Discharge ESD keep your board in its antistatic bag until you are ready to install it into your system When removing it from the bag hold the board at the edges and do not touch the components or connectors Handle the board in an antistatic environment and use a grounded workbench for testing and handling of your hardware 3 2 Physical Characteristics STEP model is available upon request contact RTD Tech Support for more information e Weight Approximately 80 g 0 18 Ibs e Dimensions 90 17 mm L x 95 89 mm W 4 570 in L x 3 775 in W U21 EN um mH NN mE M 72 fo N J TEETH DINIIN III m mj 0 GR GR R L 4 x WII mm eem B a peeeeeeee a C89 Ej Ulm m m an mee U23 ell HIHIHIIIIIDHIH IB RAA E WII s www rtd com RTD Embedded Technologies Inc Figure 1 Board Dimensions RTD Embedded Technologies Inc www rtd com 10 GPS25165HR GPS35165HR User s Manual Accessing the Analog World 3 3 Connectors and Jumpers e N CN3 PCI 104 Connector GPS25165HR Only CNo GPS Antenna G A i Gr JB Ae H
21. k Gently and evenly press the module onto the PC 104 stack If any boards are to be stacked above this module install them Attach any necessary cables to the PC 104 stack Re connect the power cord and apply power to the stack Boot the system and verify that all of the hardware is working properly o pu OD SR Ee ene _ r Figure 3 Example 104 Stack RTD Embedded Technologies Inc www rtd com 13 GPS25165HR GPS35165HR User s Manual Accessing the Analog World 4 IDAN Connections 4 Module Handling Precautions To prevent damage due to Electrostatic Discharge ESD keep your module in its antistatic bag until you are ready to install it into your system When removing it from the bag hold the module by the aluminum enclosure and do not touch the components or connectors Handle the module in an antistatic environment and use a grounded workbench for testing and handling of your hardware 4 2 Physical Characteristics e Weight Approximately 0 21 Kg 0 46 Ibs e Dimensions 151 972 mm L x 129 978 mm W x 16 993 mm H 5 983 in L x 5 117 in W x 0 669 in H 16 993mm 0 669in Figure 4 IDAN Dimensions 43 Connectors 4 3 1 BUS CONNECTORS CN1 Top amp CN2 Bottom PCle Connector The PCle connector is the connection to the system CPU The position and pin assignments are compliant with the PC 104 Express Specification See PC 104 Specifications on page 24 The GPS35165 is a Universal
22. l settings can be found in section Sensor Interface UART Settings page 17 6 1 Data Format The GPS35165 provides all sensor output data in XML format Formatting example of all printable data is below lt GPS35165_ DATA lt LSM ts 10d gt lt M gt lt X gt 04x lt X gt lt Y gt 04x lt Y gt lt Z gt 04x lt Z gt lt M gt lt G gt lt X gt 04x lt X gt lt Y gt 04x lt Y gt lt Z gt 04x lt Z gt lt G gt lt A gt lt X gt 04x lt X gt lt Y gt 04x lt Y gt lt Z gt 04x lt Z gt lt A gt lt LSM gt lt MPL ts 10d gt lt AL gt 05x lt AL gt or lt P gt 05x lt P gt lt T gt 03x lt T gt lt MPL gt lt GPS35165_DATA gt ts time since start of microcontroller in milliseconds This will increment for approximately 50 days before resetting to zero lt GPS35165_DATA gt is generated when a command has been issued GPS35165 DATA is generated when all sensors are disabled lt LSM ts 10d gt is generated when the inertial sensor is enabled and data is available on any of its three sensors M lt M gt are generated when magnetometer data is available and sent lt G gt lt G gt are generated when gyroscope data is available and sent lt A gt lt A gt are generated when accelerometer data is available and sent X lt X gt Y lY lt Z gt lt Z gt tags are generated when sensor data is available all axes are sent each time the sensor data is available lt LSM
23. m He 13 P dr e CM4 Utility gt ONT Serial CN1 amp CN2 PCle Connector Figure 2 Board Connections 3 3 1 BUS CONNECTORS CN1 Top amp CN2 Bottom PCle Connector The PCle connector is the connection to the system CPU The position and pin assignments are compliant with the PC 104 Express Specification See PC 104 Specifications on page 24 The GPS35165 is a Universal board and can connect to either a Type 1 or Type 2 PCle 104 connector CN3 PCI Connector GPS25165HR Only The PCI connector is the connection to PCI peripheral modules This connector is used only as a pass through connector on this board 3 3 2 EXTERNAL I O CONNECTORS CN Serial I O Connector CN7 is an RS 232 interface that is connected to the third port of the UART Table 4 has the pin out RTD Embedded Technologies Inc www rtd com 11 GPS25165HR GPS35165HR User s Manual Accessing the Analog World Table 4 CN7 in UART RS 232 Mode CN4 Utility Connector CN4 is the Utility connector It contains a buffered 1 pulse per second with a 6 ns maximum delay RS 232 level GPS output data and an external battery connector for GPS module Table 5 CN4 Utility _RSVD 1PPS RSVD GPSTX 6 5 GND GND 8 7 Extemal Battery GND 10 9 RSVD CN5 GPS Antenna Connector The GPS35165 provides an MCX connector for the GPS antenna Connector Part SPC Technology 8589
24. nna better performance will be achieved with an active antenna The GPS35165 provides 3 3V 5V for active GPS antennas 5 2 2 SENSOR INTERFACE The GPS35165 communicates to the inertial and altimeter sensor over serial using the 2 UART port This board features LSM9DSO 9DoF inertial sensor that has 3D accelerometer 3D gyroscope and 3D magnetometer and also an MPL3115A2 altimeter barometer sensor This data is reported back to the user in XML format to allow ease of parsing the serial stream sensor Interface UART Settings The default configuration for the serial port is 115200 Baud 8 Data bits No parity 1 Stop bit No Flow Control Inertial Sensor The inertial sensor has a linear acceleration full scale of 2 4 6 8 16 g a magnetic field full scale of 2 4 8 12 Gauss and an angular rate of 245 500 2000 dps It also has an adjustable rate for each sensor The accelerator has rates of 3 125 6 25 12 5 25 50 100 200 Hz magnetometer has rates of 3 125 6 25 12 5 25 50 Hz and the gyro has rates of 95 190 Hz Each sensor provides a 16 bit Ze complement value for each axis This data is represented in hexadecimal in the serial stream Below is the conversion formula for sensors Data x Scale Value 32768 Sensor Axis Orientation The accelerometer s axis orientation is indicated on the silkscreen of the GPS35165 board The positive x axis is facing the east side of the PCB the side with serial and utility connectors
25. nologies sales via the following methods Phone 1 814 234 8087 Monday through Friday 8 00am to 5 00pm EST E Mail X sales rtd com 1 4 2 TECHNICAL SUPPORT If you are having problems with you system please try the steps in the Troubleshooting section of this manual For help with this product or any other product made by RTD you can contact RTD Embedded Technologies technical support via the following methods Phone 1 814 234 8087 Monday through Friday 8 00am to 5 00pm EST E Mail techsupport grtd com RTD Embedded Technologies Inc www rtd com 8 GPS 25165HR GPS35165HR User s Manual Accessing the Analog World 2 Specifications 2 1 Operating Conditions Table 2 Operating Conditions Vus SVSupplyVoltage 4H Ves 33V Supply Voltage mf av V r 12V Supply Voltage a ne Te Operating Temperature E E Ts Storage Temperature 5 naje Relative Humidit NonConensng LO ln l Telcordia Issue 2 MTBF Mean Time Before Failure 30 C Ground benign controlled 2 2 Electrical Characteristics Table 3 Electrical Characteristics E Power Consumpton Vos 5 0V mm 7 emm 5V Input Supply Current Adve TBA PCle 104 Bus Differential Output Voltage y 08 412 V DCDffernia TX Impedance 20l Il 100 Differential Input Voltage JL oms nv DC D
26. ssing the Analog World 1 Introduction 1 1 Product Overview The GPS35165 is designed to provide a PCle UART interface to a GPS Receiver This GPS module utilizes the Linx RXM GNSS TM GPS Receiver This provides a low power solution that supports NMEA 0183 protocol This module also supports 3 3V and 5V active antennas This module also provides a serial interface to 9 Degree of Freedom 9DoF inertial sensor and altimeter barometer sensor These sensors will provide the user additional position information that a GPS alone cannot provide 1 2 Board Features e PC 104 form factor e Bus Structure Options o PCle 104 GPS35165HR PCle universal expansion bus Type 1 or Type 2 o PCIM04 Express GPS25165HR PCle universal expansion bus Type 1 or Type 2 PCI pass through expansion bus e PCle x1 interface Gen 2 5 GT s e PCle link repopulation allowing increased PCI Express stack capacity e Linx RXM GNSS TM GPS engine L1 1575 42MHz C A code 33 channel satellite tracking Position accuracy 2 5m Time accuracy of x11ns 1Hz update rate configurable up to 10Hz Tracking sensitivity down to 164 dBm Protocol NMEA 0183 ver 4 10 Constellation System Support GPS GLONASS GALILEO QZSS o DGPS support SBAS Satellite Based Augmentation System RTCM Radio Technical Commission for Maritime Services WAAS Wide Area Augmentation System O O O O OO D O EGNOS European Geo Stationary Navigation System MSAS
Download Pdf Manuals
Related Search