PowerDNA DNA-GPS GPS Receiver System — User Manual
Contents
1. usi Numerics 1 PPS Signal 3 63826 Figure Caption Figure 1 4 Logic Block Diagram SL 501 Pinout 7 A Accessories 14 D DNA CBL COM Cable 6 14 DNA GPS Receiver System 3 DNA SL 501 Layer 5 DNA SL 501 Serial Communication 4 DNA STP GPS Terminal Board 4 DNA STP GPS Terminal Panel 14 F Functional Block Diagram 4 G DNA GPS Receiver System 16 Index M Mailing Address ii Manual Conventions 2 P Photo 4 Positional Error 3 Product Disclaimer ii Programming 8 R RS 232 485 4 S Sample Code 8 SL 501 Pinout 7 Support ii Sync 4 T Technical Specifications 3 Terminal Board Layout 14 Garmin GPS 16 HVS 4 U l UART16550 5 Internet Support ii UTC Time 3 Introduction 1 WwW WAAS 3 United Electronic Industries Inc Date 07 31 2007 File DNA GPSIX fm2. M M M U M Copyright 2007 all rights reserved Tel 508 921 4600 www ueidaq com Vers 1 1 United Electronic Industries Inc Date 07 31 2007 File GPS Chap1 fm 1 2 The DNA GPS Receiver System DNA GPS Receiver System Introduction This manual describes the DNA GPS Receiver System It also describes the DNA STP GPS Terminal Panel accessory board The technical specifications for the DNA GPS Receiver System are listed in Table 1 1 Technical Specifications GPS Receiver Garmin GPS 16 HVS Positional Accuracy 3 meters in DGPS WAAS mode 15 meters in Standard mode Velocity Accuracy 0 1 knot RMS Acquisition Times Reacquisition less than 2 seconds Cold acquisition approximately 45 seconds Skysearch Autolocate 5 minutes 1 PPS Accuracy 1 uS 1 PPS Display 1 PPS LED flash on DNA STP GPS board Output connection 5 meter cable terminated in RJ 45 DNA STP GPS splits RJ 45 into easily used serial power and 1 PPS connections Serial Output Protocol NMEA 0183 v2 or v3 as well a variety of other ASCII sentences Size 3 58 diameter 1 65 high Weight 11 7 oz with 5 meter cable Operating Temperature 30 C to 85 C Moisture resistance IEC 60539 IPX7 immersion in 1 meter of water for 30 minutes Power Supply 9 36 VDC less than 600 mW fully comp
3. AMnitei Electronic Industries The High Performance Alternative PowerDNA DNA GPS GPS Receiver System User Manual High Performance GPS Receiver for a PowerDNA UEILogger or UEIPAC Cube August 2007 Edition PN Man DNA GPS 0807 Copyright 1998 2007 United Electronic Industries Inc All rights reserved No part of this publication may be reproduced stored in a retrieval system or transmitted in any form by any means electronic mechanical by photocopying recording or otherwise without prior written permission Information furnished in this manual is believed to be accurate and reliable However no responsibility is assumed for its use or for any infringements of patents or other rights of third parties that may result from its use All product names listed are trademarks or trade names of their respective companies See UEI s website for complete terms and conditions of sale http www ueidaq com company terms aspx Contacting United Electronic Industries Mailing Address 27 Renmar Avenue Walpole MA 02081 U S A For a list of our distributors and partners in the US and around the world please see http www ueidaq com partners Support Telephone 508 921 4600 Fax 508 668 2350 Also see the FAQs and online Live Help feature on our web site Internet Support Support support ueidaq com Web Site www ueidaq com FTP Site ftp ftp ueidaq com Product Disclaimer WARNING DO NOT U
4. LZ 5 TX1 o gt RX1 eo a e o e m os gt GND1 a N Lo gt TX2 RX2 we E gt TX2 5 31 gt RX2 a Ey x e S gt GND2 4 d KC gt TX4 gt RX4 i gt TX4 5 gt RX4 o a as e E gt GND4 w Fj g gt TX3 gt RX3 v Ae gt TX3 a e S JB GND3 a E amp Figure 1 4 SL 501 Pinout S SS SS SSS SS SS SS SE Copyright 2007 all rights reserved Tel 508 921 4600 www ueidag com Vers 1 1 United Electronic Industries Inc Date 07 31 2007 File GPS Chap1 fm DNA GPS Receiver System iii Programming with the High Level API Chapter2 Programming with the High Level API Since the DNA GPS Receiver System requires that a DNA SL 501 Serial Communication layer be installed in the associated PowerDNA UEILogger or UEIPAC Cube please refer to the code examples for the DNA SL 501 Layer included with the PowerDNA Software Suite provided with your Cube One of these examples is shown below NAME SampleGPS c DESCRIPTION This example shows how to interface with a GARMIN GPS receiver It continuously read incoming NMEA messages on serial port 0 in a dedicated thread The main thread is configured to handle the 1 PPS timing signal coming from the GPS You need to connect that signal to PowerDNA s SyncIn connector with the DNA GPS STP terminal block Copyright C 2006 United Electronic Industries Inc All rights reserved United E
5. A GPGGA MESSAGE print gga amp gga break case NMEAP GPRMC GOT A GPRMC MESSAGE print rmc amp rmc break default break return NULL Copyright 2007 all rights reserved Tel 508 921 4600 www ueidaq com Vers 1 1 United Electronic Industries Inc Date 07 31 2007 File GPS Chap2 fm V DNA GPS Receiver System Programming with the High Level API int main int argc char argv int ret 0 double duration int count 0 struct timeval tvl tv2 pthread_t recvThread DqInitDAQLib ParseParameters argc argv amp params signal SIGINT signalhandler open communication with IOM and receive IOM crucial identification data if ret DqOpenIOM 127 0 0 1 DQ UDP DAQ PORT 2000 amp handle NULL lt 0 printf Error d In Initializing Communication with IOM n ret return ret set channel configuration if ret DqAdv501SetChannelCfg handle params device params channels 0 CHANNEL CFG lt 0 printf error d in DqAdv501SetChannelCfg n ret goto finish_up if ret DqAdv501SetTimeout handle params device params channels 0 1000 lt 0 1 second timeout for xmit printf error d in DqAdv501SetTimeout n ret goto finish_up if ret DqAdv501SetTermLength handle params device params channels 0 1 lt 0 8 bytes at a time printf error d in DqAdv501SetTermLength n ret goto finish_up if ret DqAdv501
6. board dL MM M M M M M Copyright 2007 all rights reserved Tel 508 921 4600 www ueidaq com Vers 1 1 United Electronic Industries Inc Date 07 31 2007 File GPS Chap1 fm AZ A DNA GPS Receiver System vii Introduction DNA STP GPS Sync Connector Garmin 16 HVS Receiver with WAAS capability RS 232 Connection O PPS LED The DNA STP GPS provides connections from the GPS to PowerDNA Power The two independent GPS serial ports Cu be The 1 PPS GPS synchronization pulse Figure 1 2 Block Diagram of DNA GPS Receiver System Architecture 1 4 DNA SL 501 Layer capabilities Since the DNA GPS Receiver System requires a DNA SL 501 layer to be supplied with the Cube the fol lowing information about the SL 501 is included in this manual For more detailed information refer to the SL 501 User Manual and Datasheet Using the RS 232 or RS 485 standard the controller is capable of communicating at speeds of 256Kbit s for RS 232 and 1Mbit s for RS 485 When in RS 485 mode the layer is compatible with RS 422 networks The UART 16550 runs at a base block frequency of 66MHz with a FIFO size of 2048 Each port has independently programma
7. gt satellites gga gt quality gga gt hdop gga geoid void SerialReadThreadProc void arg int ret DQ SUCCESS sigset t set define BUFSIZE 128 char buffer BUFSIZE sigemptyset amp set sigaddset amp set SIGINT pthread sigmask SIG BLOCK amp set NULL ret nmeap_init amp nmea NULL if ret 0 fprintf stderr nmeap init d n ret return NULL Copyright 2007 alll rights reserved Tel 508 921 4600 www ueidaq com Vers 1 1 United Electronic Industries Inc Date 07 31 2007 File GPS Chap2 fm DNA GPS Receiver System Programming with the High Level API add standard GPGGA parser ret nmeap addParser amp nmea GPGGA nmeap gpgga NULL S amp gga if ret 0 fprintf stderr nmeap add d n ret return NULL add standard GPRMC parser ret nmeap addParser amp nmea GPRMC nmeap gprmc NULL amp rmc if ret 0 fprintf stderr nmeap add d n ret return NULL while stop int bufferLength ret DqEmb501Receive handle params device params channels 0 unsigned char buffer BUFSIZE 2000 n if ret 0 printf Error d receiving from serial port n ret break bufferLength ret buffer bufferLength 0 printf s buffer Send message to parser ret nmeap parseBuffer amp nmea buffer amp bufferLength process the return code switch ret case NMEAP GPGGA GOT
8. 2 tv sec tvl tv sec tv2 tv usec tvl tv usec 1000000 0 printf Executed d iterations in SE s SE updates per sec Mn count duration count duration ret DqEmbCancelEvent handle DqEmbEventSyncIn if ret O fprintf stderr Error d cancelling event n ret return ret pthread join recvThread NULL finish up if ret DqAdv501Enable handle params device FALSE lt 0 Copyright 2007 alll rights reserved Tel 508 921 4600 www ueidaq com Vers 1 1 United Electronic Industries Inc Date 07 31 2007 File GPS Chap2 fm DNA GPS Receiver System viii Programming with the High Level API printf Error d in DqAdv501Enable n ret if handle DqCloseIOM handle DqCleanUpDAQLib return 0 KL SSS SS EE Se eS EE EE EE EE EE ee Copyright 2007 all rights reserved Tel 508 921 4600 www ueidaq com Vers 1 1 United Electronic Industries Inc Date 07 31 2007 File GPS Chap2 fm DNA GPS Receiver System iii Appendices Accessories This appendix provides a list of accessories available for the DNA GPS Receiver System preassembled with a DNA SL 501 Serial Communication Layer DNA CBL COM Cable A DNA CBL COM Cable with a DB 37 on one end and 4 DB 9 Serial Port Connectors on the other end as shown in Figure 1 3 on page 6 See Figure 1 4 on page 7 for pinout One cable may be used with each SL 501 board in the PowerDNA Cube DNA STP GPS Terminal Pane
9. SE PRODUCTS SOLD BY UNITED ELECTRONIC INDUSTRIES INC AS CRITICAL COMPONENTS IN LIFE SUPPORT DEVICES OR SYSTEMS Products sold by United Electronic Industries Inc are not authorized for use as critical components in life support devices or systems A critical component is any component of a life support device or system whose failure to perform can be reasonably expected to cause the failure of the life support device or system or to affect its safety or effectiveness Any attempt to purchase any United Electronic Industries Inc product for that purpose is null and void and United Electronic Industries Inc accepts no liability whatsoever in contract tort or otherwise whether or not resulting from our or our employees negligence or failure to detect an improper purchase DNA GPS Receiver System iii Table of Contents Chapter 1 Introduction 1 1 1 Organizatiori vs les eee edn me bee ete a ul cuv 1 IntrOQCtlon Itu epe tende e ur ele m ea creta 1 DNA GPS Receiver System 1 Programming with High Level An 1 1 2 The DNA GPS Receiver System 3 1 3 Device Architecte sn 2 ar ars tette s prd E Paste ie SEAN e E Fn 4 1 4 DNA SL 501 Layer capabilities llle 5 1 5 Wiring amp Connectors cence ekini e a ea EEE EAE A E E a EG 6 Chapter 2 Programming with the High Level API 8 ee TEE 14 i2 PET 16 United Electronic Industries Inc Date 07 31 2007 File DNA GPSTOC fm DNA GPS Receiver System iii List o
10. SetWatermark handle params device params channels 0 Dot IOCTL501 SETTXWM 1 lt 0 internal fifos 512 printf error d in DqAdv501SetWatermark TX ret goto finish_up if ret DqAdv501SetWatermark handle params device params channels 0 DQL IOCTL501 SETRXWM 1 lt 0 printf error d in DqAdv501SetWatermark RX n ret goto finish_up if ret DqAdv501Enable handle params device TRUE lt 0 Copyright 2007 alll rights reserved Tel 508 921 4600 www ueidaq com Vers 1 1 United Electronic Industries Inc Date 07 31 2007 File GPS Chap2 fm vi DNA GPS Receiver System vii Programming with the High Level API printf Error d in DqAdv501Enable n ret goto finish up Start thread that will read position data comming from the GPS pthread create amp recvThread NULL SerialReadThreadProc NULL ret DqEmbConfigureEvent handle DqEmbEventSyncIn 0 if ret O fprintf stderr Error d configuring event n ret return ret gettimeofday amp tv1 NULL while stop DQ EMBEDDED EVENT evt ret DqEmbWaitForEvent handle 2000 amp evt if ret O fprintf stderr Error d configuring event n ret return ret if evt amp DqEmbEventTimeout printf Timeout event n if evt amp DqEmbEventSyncIn printf SyncIn event n usleep 100000 countt t gettimeofday amp tv2 NULL duration tv
11. atible with standard PowerDNA power supplies Table 1 1 DNA GPS Receiver System Technical Specifications V In WAAS mode the Garmin GPS receiver provides location information with an error of less than 3 meters within areas served by WAAS Wide Area Augmentation System which basically means North America WAAS is a system that broadcasts data that corrects standard GPS signals for errors caused by atmo spheric and ionospheric disturbances and satellite orbit and clock drift This broadcast signal can be received by the Garmin 16 HVS Receiver in WAAS mode In areas where WAAS is not available the GPS system provides location information with a positional error of less than 15 meters The system also outputs a 1 PPS pulse per second signal that is synchronized to UTC time within 1 microsecond This signal provides a convenient means of synchronizing systems anywhere in the world A green LED mounted on the DNA STP GPS accessory board indicates the current status of this signal Copyright 2007 alll rights reserved Tel 508 921 4600 www ueidaq com Vers 1 1 United Electronic Industries Inc Date 07 31 2007 File GPS Chap1 fm DNA GPS Receiver System vi Introduction A DNA STP GPS terminal board is supplied as a standard accessory with each GPS Receiver system to facilitate the connections between the Garmin unit and the associated Cube As illustrated in Figure 1 2 and also in Figure A 1 in the Appendix this board connects t
12. ble e Baud bit rate UART interrupt e Timeout interrupt e TX RX FIFO interrupt Error interrupt 4 per port Copyright 2007 all rights reserved Tel 508 921 4600 www ueidaq com Vers 1 1 United Electronic Industries Inc Date 07 31 2007 File GPS Chap1 fm DNA GPS Receiver System viii Introduction 1 5 Wiring amp Connectors A DNA CBL COM see Figure 1 3 from the 37 pin connector of the SL 501 provides four individual 9 pin ports labeled by port as 1 2 3 4 Port 1 Figure 1 3 SL 501 with Cables The following signals are located at the connector e GNDx Isolated ground for the corresponding serial port TXDX RXDx RS 232 Transmit Receive e RTSx RCTSx RS 232 request to Send Clear to Send e TXx TXx RS 485 Transmit pair e RXx RXx RS 485 Receive pair The B size 37 pin female D Sub connector on the SL 501 is divided into four 9 pin D connector serial ports by a DNA CBL COM cable with the pinout shown in Figure 1 4 a Copyright 2007 all rights reserved Tel 508 921 4600 www ueidaq com Vers 1 1 United Electronic Industries Inc Date 07 31 2007 File GPS Chap1 fm M nnH DNA GPS Receiver System ix Introduction RS 485 TXI gt RX1
13. essories for the DNA GPS Receiver System Programming with High Level API This chapter provides a reference to the DNA SL 501 Serial Communication Layer User Manual for instruc tion on how to program the system Appendices Accessories This appendix provides a list of accessories available for use with a DNA GPS Receiver System Index This is an alphabetical index of topics covered in this manual NOTE A glossary of terms used with the PowerDNA Cube and layers can be viewed and or downloaded from www ueidaq com Copyright 2007 alll rights reserved Tel 508 921 4600 www ueidaq com Vers 1 1 United Electronic Industries Inc Date 07 31 2007 File GPS Chap1 fm DNA GPS Receiver System iv Introduction Manual Conventions To help you get the most out of this manual and our products please note that we use the following conven tions Tips are designed to highlight quick ways to get the job done or reveal good ideas you might not discover on your own NOTE Notes alert you to important information CAUTION Caution advises you of precautions to take to avoid injury data loss and damage to your boards or a system crash Text formatted in bold typeface generally represents text that should be entered verbatim For instance it can represent a command as in the following example You can instruct users how to run setup using a command such as setup exe O BR
14. f Figures Chapter 1 Introduction 1 1 1 DNA GPS Receiver System and PowerDNA Cube 4 1 2 Block Diagram of DNA GPS Receiver System Architecture eeceeeeeesteeeeeeenaees 5 1 3 SE 507I with aleeden Ee REIR HR RR 6 1 4 L501 lie TEE 7 Appendix csi itt cate need Seta tan anaes epee das on ae ue 9 A 1 DNA STP GPS Terminal Board Layout 14 A 2 Photo of DNA STP GPS Board 15 n ER Copyright 2007 all rights reserved Tel 508 921 4600 www ueidaq com Vers 1 1 United Electronic Industries Inc Date 07 31 2007 File DNA GPSLOF fm DNA GPS Receiver System iii Introduction Chapter 1 Introduction This document outlines the feature set and use of the DNA GPS Receiver System when used with a Pow erDNA UEILogger or UEIPAC Cube This manual describes the following products e DNA GPS Receiver System for mounting on a PowerDNA UElILogger or UEIPAC Cube supplied with a DNA SL 501 Serial Communication Layer e DNA STP GPS Terminal Panel Board designed as a convenient connection interface between a PowerDNA UElILogger or UEIPAC Cube and a Garmin GPS 16 HVS Receiver mounted on the Cube e Accessory modules such as cables 1 4 Organization This DNA GPS Receiver System Manual is organized as follows Introduction This chapter provides an overview of DNA GPS Receiver System features functions and accessories DNA GPS Receiver System This chapter provides an overview of the device architecture connectivity logic and acc
15. he receiver signal from the Garmin unit to two RJ 45 connectors one of which is used for two DB 9 Serial Line connectors and one of which is used for the Sync input to the Cube The accessory board also provides a BNC connector that can be used to output the 1PPS GPS signal for synchronizing other devices to UTC time An LED mounted on the board flashes with the 1 PPS signal confirming satellite synchronization and presence of the signal Figure 1 1 is a photo of the DNA GPS Receiver System mounted on a PowerDNA Cube NOTE Cube must have at least one DNA SL 501 Serial Comm Layer Figure 1 1 DNA GPS Receiver System and PowerDNA Cube 1 3 Device Architecture The DNA GPS Receiver System consists of a Garmin GPS 16 HVS receiver mounted on the top of a Pow erDNA UEILogger or UEIPAC Cube as shown in Figure 1 1 The Cube contains at least one DNA SL 501 Serial Communication layer board The system is usually provided with additional accessory items such as RS 232 485 serial cables power supply cables Sync cable and a DNA STP GPS terminal panel that facilitates the various connections between the Garmin receiver and the Cube These accessories are described more fully in the Appendix on page 14 A functional block diagram of the major components of a complete PowerDNA UEILogger or UEIPAC GPS system is shown in Figure 1 2 The diagram shows the interconnections between the Garmin receiver an associated Cube and a DNA STP GPS terminal
16. l This accessory board provides a convenient interface between the Garmin GPS receiver and the Pow erDNA UElLogger or UEIPAC Cube The layout of the board is shown in Figure A 1 below Figure 1 2 on page 5 shows a block diagram of the cable connections Power Out to other devices RJ 45 Connector RJ 45 Connector Power In from Cube for Sync cable to for cable to Garmin Receiver z Oo o o BS 1 oa DNA_SYNC D 9 2 Screw PE DNA STP GPS 3 Terminals 4 c Nw United 5 Or VAS Electronic b Si wy Industries z The High Performance Alternative Z wi HS PPS OUT 9 zs 10 38 TUE S D Ki BNC Connector for PPS DB 9 Connector Spare DB 9 Eeer for Green LED to Serial Port on Serial Port PPS Indicator SL 501 Layer Figure 1 1 DNA STP GPS Terminal Board Layout Copyright 2007 all rights reserved Tel 508 921 4600 www ueidaq com Vers 1 1 United Electronic Industries Inc Date 07 31 2007 File GPSAppx fm DNA GPS Receiver System iv A Mounted in DIN rail plastic housing Figure 1 2 Photo of DNA STP GPS Board MM M M MM M M M M M a Copyright 2007 all rights reserved Tel 508 921 4600 www ueidaq com Vers 1 1 United Electronic Industries Inc Date 07 31 2007 File GPSAppx fm
17. lectronic Industries Confidential Information include lt stdio h gt include lt stdint h gt include lt stdlib h gt include lt netinet in h gt include lt unistd h gt include lt signal h gt include lt math h gt include lt sys time h gt include lt sched h gt include lt pthread h gt include PDNA h include ParseParams h include nmeap h static nmeap context t nmea parser context static nmeap gga t gga this is where the data from GGA messages will show up static nmeap rmc t rmc this is where the data from RMC messages will show up The GPS is sending data at 9600bps 8N1 define CHANNEL CFG DQCFG 501 DQ SL501 OPER NORM N Copyright 2007 alll rights reserved Tel 508 921 4600 www ueidaq com Vers 1 1 United Electronic Industries Inc Date 07 31 2007 File GPS Chap2 fm DNA GPS Receiver System iv Programming with the High Level API DQ SL501 MODE 232 DQ SL501 BAUD 9600 DQ SL501 WIDTH 8 DQ SL501 STOP 1 DQ SL501 PARITY NONE int stop 0 PDNA PARAMS params 0 1 0 100 0 int handle 0 Handler for SIGINT void signalhandler int sig stop 1 static void print gga nmeap gga t gga printf Latitude 6f n Longitude 6f n Altitude 0f m n Time lu n Satellites d n Quality d n HDOP n geoid f n gga gt latitude gga gt longitude gga gt altitude gga gt time E gga
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