TF11-User`s manual
Contents
1. CKSUM lt CR gt lt LF gt lt X gt X coordinate position INT32 lt Y gt Y coordinate position INT32 lt Z gt Z coordinate position INT32 lt ClkOffset gt Clock offset of the receiver in Hz Use 0 for last saved value if available If this is unavailable a default value of 75000 for GSP1 95000 for GSP 1 LX will be used INT32 lt TimeOf Week gt GPS Time Of Week UINT32 lt WeekNo gt GPS Week Number UINT16 Week No and Time Of Week calculation from UTC time lt chnlCount gt Number of channels to use 1 12 If your CPU throughput is not high enough you could decrease 14 needed throughput by reducing the number of active channels UBYTE lt ResetCfg gt bit mask 0x01 Data Valid warm hotstarts 1 0x02 clear ephemeris warm start 1 0x04 clear memory Cold start 1 UBYTE Example Start using known position and time PSRF101 2686700 4304200 385 1624 96000 497260 921 12 3 7F C Set DGPS Port ID 102 Set PORT B parameters for DGPS input This command is used to control Serial Port B that is an input only serial port used to receive RTCM differential corrections Differential receivers may output corrections using different communication parameters The default communication parameters for PORT B are 9600 Baud 8data bits 0 stop bits and no parity Ifa DGPS receiver is used which has different communication parameters use this command to allow the receiver to correctly decode the data When a valid message2. SA off 1 microsecond synchronized to GPS time 0 1 sec average recovery time for being interrupted 8 sec average with ephemeris and almanac valid 38 sec average with almanac but not ephemeris 48 sec average neither almanac nor ephemeris 18 000 meters 60 000 feet max 515 meters sec 1000knots max 3 8Vde 6 5Vdc Continuous mode 60mA typical Trickle power mode 25mA typical 2 5V to 3 6V 10uA typical lt Serial Port gt Ports one for GPS one for DGPS Electrical level TTL level Output voltage level 0 3 5V Communication Full duplex asynchronous Code type ASCII GPS Protocol SiRF binary NMEA 0183 changeable Default NMEA GPS Output Message SiRF binary gt gt position velocity altitude status and control NMEA 0183 gt gt GGA GSA GSV RMC VTG and GLL are optional GPS transfer rate Software command setting Default 4800bps for NMEA DGPS protocol RTCM SC 104 ver 2 00 type 1 2 and 9 lt Time Mark gt 1 PPS Pulse Level TTL Pulse duration 100ms Time reference At the pulse positive edge Measurement Aligned to GPS sec lus lt Active Antenna Connector gt MCX SMA or others OEM specified connector available Environmental Characteristics lt Temperature gt Operating 40 deg C to 80deg C Storage 40 deg C to 85 deg C Physical Characteristics lt Dimension gt i COMPONENT SIDE 7 mm all PZE
3. Fixed Data Table B 2 contains the values for the following example GPGGA 161229 487 3723 2475 N 12158 3416 W 1 07 1 0 9 0 M 0000 18 Table B 2 GGA Data Format Name Example Units Description Message ID GPGGA GGA protocol header UTC Time 161229 487 hhmmss sss Latitude 3723 2475 ddmm mmmm N S Indicator N N north or S south Longitude 12158 3416 dddmm mmmm E W Indicator W E east or W west Position Fix Indicator 1 See Table B 3 Satellites Used 07 Range 0 to 12 HDOP 1 0 Horizontal Dilution of Precision MSL Altitude 9 0 meters Units M meters Geoid Separation meters Units M meters Age of Diff Corr second Null fields when DGPS is not used Diff Ref Station ID 10000 Checksum 18 lt CR gt lt LF gt End of message termination 1 SiRF Technology Inc does not support geoid corrections Table B 3 Position Fix Indicator Values are WGS84 ellipsoid heights Value Description 0 Fix not available or invalid 1 GPS SPS Mode fix valid 2 Differential GPS SPS Mode fix valid 3 GPS PPS Mode fix valid GLL Geographic Position Latitude Longitude Table B 4 contains the values for the following example GPGLL 3723 2475 N 12158 3416 W 161229 487 A 2C Table B 4 GLL Data Format Name Example Units Description Message ID GPGLL GLL protocol header Latitude 3723 2475 ddmm mmmm N S Indicator
4. PG11 GPS Receiver Engine Board 2005 User Manual LAIPAC TECH www laipac com Laipac Technology nc 55 West Beaver Creek Rd Unit 1 Richmond Hill Ontario L4B 1K5 Canada Tel 1 905 762 1228 Fax 1 905 763 1737 1 lt lt Specification gt gt Product Features SiRF GPS Architecture SIRF starII high performance and low power consumption chip set Support standard NMEA 0183 protocol All in view 12 channel parallel processing SnapLock 100ms re acquisition time Cold start under 45 seconds average Superior urban canyon performance FoliageLock for weak signal tracking Optional build in SuperCap to reserve system data for rapid satellite acquisition Full duplex RS 232 port for navigation and control messages Differential GPS capability through 2 RS 232 port System Specification Electrical Characteristics lt Receiver gt Frequency C A code Channels Sensitivity lt Accuracy gt Position Horizontal Velocity Time lt Datum gt WGS 84 lt Acquisition Rate gt Reacqusition Hot start Warm start Cold start lt Dynamic Condition gt Altitude Velocity lt Power gt Voltage supply Current supply Backup Power Backup Current L1 1575 42MHz 1 023MHz chip rate 12 170dBW 15m 2d RMS SA off 10m 2d RMS WAAS enable SA off 1 5m DGPS corrected 0 1m sec 95
5. RF103 05 00 00 01 21 16 E LLA Navigation Initialization ID 104 Parameters required to start using Lat Lon Alt This command is used to initialize the module for a warm start by providing current position in Latitude Longitude Altitude coordinates clock offset and time This enables the receiver to search for the correct satellite signals at the correct signal parameters Correct initialization parameters will enable the receiver to acquire signals more quickly and thus will produce a faster navigational soution When a valid LLANavigationInitialization command is received the receiver will restart using the input parameters as a basis for satellite selection and acquisition Format PSRF104 lt Lat gt lt Lon gt lt Alt gt lt ClkOffset gt lt TimeOfWeek gt lt WeekNo gt lt ChannelCount gt lt ResetCfg gt CKSUM lt CR gt lt LF gt lt Lat gt Latitude position assumed positive north of equator and negative south of equator float possibly signed lt Lon gt Longitude position it is assumed positive east of Greenwich and negative west of Greenwich Float possibly signed lt Alt gt Altitude position float possibly signed lt ClkOffset gt Clock Offset of the receiver in Hz use 0 for last saved value if available If this is unavailable a default value of 75000 for GSP1 95000 for GSP1 LX will be used INT32 lt TimeOfWeek gt GPS Time Of Week UINT32 lt WeekNo gt GPS Week Number UINT16 lt C
6. dule engine board will execute a cold star after every turn on To achieve the faster start up offered by a hot or warm start either a battery backup must be connected or a Gold capacitor should be installed To maximize battery lifetime the battery voltage should not exceed the supply voltage and should be between 2 5v and 3 6v PBRES Push button reset This pin provides an active low reset input to the engine board It causes the engine board to reset and start searching for satellites SELECT Do not connect TXA This is the main transmits channel for outputting navigation and measurement data to user s navigation software or user written software TTL level OV 3 5V RXA This is the main receive channel for receiving software commands to the engine board from SiRFdemo software or from user written software Normally this pin must be kept in high and if you don t use this pin please connect a resistor to 3 5V to pull high TXB No function as so far Do not connect RXB This is the auxiliary receive channel for inputting differential corrections to the engine board to enable DGPS navigation Time mark This pin provides one pulse per second output from the engine board that is synchronized to GPS time GND GND provides the ground for the engine board Connect all grounds Others Do not connect 2 SOFTWARE COMMAND 2 1 NMEA Output Command GGA Global Positioning System
7. hannelCount gt Number of channels to use 1 12 UBYTE lt ResetCfg gt bit mask 0x01 Data Valid warm hot starts 1 17 0x02 clear ephemeris warm start 1 0x04 clear memory Cold start 1 UBYTE Example Start using known position and time PSRF104 37 3875111 121 97232 0 96000 237759 922 12 3 37 F Development Data On Off 1D 105 Switch Development Data Messages On Off Use this command to enable development debug information if you are having trouble getting commands accepted Invalid commands will generate debug information that should enable the user to determine the source of the command rejection Common reasons for input command rejection are invalid checksum or parameter out of specified range This setting is not preserved across a module reset Format PSRF105 lt debug gt CKSUM lt CR gt lt LF gt lt debug gt 0 Off 1 On Example Debug On PSRF105 1 3E Example Debug Off PSRF105 0 3F 18
8. is received the parameters will be stored in battery backed SRAM and then the receiver will restart using the saved parameters Format PSRF102 lt Baud gt lt DataBits gt lt StopBits gt lt Parity gt CKSUM lt CR gt lt LF gt lt baud gt 1200 2400 4800 9600 19200 38400 lt DataBits gt 8 lt StopBits gt 0 1 lt Parity gt 0 None Odd 1 Even 2 Example Set DGPS Port to be 9600 8 N 1 PSRF102 9600 8 1 0 12 15 D Query Rate Control 1D 103 Query standard NMEA message and or set output rate This command is used to control the output of standard NMEA message GGA GLL GSA GSV RMC VTG Using this command message standard NMEA message 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 Format PSRF103 lt msg gt lt mode gt lt rate gt lt cksumEnable gt CKSUM lt CR gt lt LF gt lt msg gt 0 GGA 1 GLL 2 GSA 3 GSV 4 RMC 5 VTG lt mode gt 0 SetRate 1 Query lt rate gt Output every lt rate gt seconds off 0 max 255 lt cksumEnable gt 0 disable Checksum 1 Enable checksum for specified message Example 1 Query the GGA message with checksum enabled PSRF103 00 01 00 01 25 Example 2 Enable VTG message for a 1Hz constant output with checksum enabled PSRF103 05 00 01 01 20 Example 3 Disable VTG message PS
9. me Example Description Message ID __ SGPGSV GSV protocol header Number of Messages 2 Range 1 to 3 Message Number 1 Range 1 to 3 Satellites in View 07 Satellite ID 07 Channel 1 Range to 32 Elevation 79 degrees Channel 1 Maximum90 Azimuth 048 degrees Channel 1 True Range 0 to 359 SNR C No 42 dBHz Range 0 to 99 null when not tracking Satellite ID 27 Channel 4 Range to 32 Elevation 27 Degrees Channel 4 Maximum90 Azimuth 138 Degrees Channel 4 True Range 0 to 359 SNR C No 42 dBHz Range 0 to 99 null when not tracking Checksum 71 lt CR gt lt LF gt End of message termination 1 Depending on the number of satellites tracked multiple messages of GSV data may be required 10 RMC Recommended Minimum Specific GNSS Data Table B 10 contains the values for the following example GPRMC 161229 487 A 3723 2475 N 12158 3416 W 0 13 309 62 120598 10 Table B 10 RMC Data Format Name Example Units Description Message ID GPRMC RMC protocol header UTC Time 161229 487 hhmmss sss Status A A data valid or V data not valid Latitude 3723 2475 ddmm mmmm N S Indicator N N north or S south Longitude 12158 3416 dddmm mmmm E W Indicator W E east or W west Speed Over Ground 0 13 knots Course Over Ground 309 62 degrees True Date 120598 ddmmyy Magnetic Variation degrees E east or W west Checksum 10 lt CR gt lt LF gt End of message termination SiRF Technology Inc does not s
10. n N north or S south Longitude 12158 3416 dddmm mmmm E W Indicator W E east or W west UTC Position 161229 487 hhmmss sss Status A A data valid or V data not valid Checksum 2C lt CR gt lt LF gt End of message termination GSA GNSS DOP and Active Satellites Table B 5 contains the values for the following example GPGSA A 3 07 02 26 27 09 04 15 1 8 1 0 1 5 33 Table B 5 GSA Data Format Name Example Units Description Message ID GPGSA GSA protocol header Model A See Table B 6 Mode2 3 See Table B 7 Satellite Used 07 Sv on Channel 1 Satellite Used 02 Sv on Channel 2 Satellite Used Sv on Channel 12 PDOP 1 8 Position dilution of Precision HDOP 1 0 Horizontal dilution of Precision VDOP 1 5 Vertical dilution of Precision Checksum 33 lt CR gt lt LF gt End of message termination 1 Satellite used in solution Table B 6 Model Value Description M Manual forced to operate in 2D or 3D mode A 2Dautomatic allowed to automatically switch 2D 3D Table B 7 Mode 2 Value Description 9 1 Fix Not Available 2 2D 3 3D GSV GNSS Satellites in View Table B 8 contains the values for the following example GPGSV 2 1 07 07 79 048 42 02 5 1 062 43 26 36 256 42 27 27 138 42 71 GPGSV 2 2 07 09 23 313 42 04 19 159 41 15 12 041 42 41 Table B 8 GSV Data Format Na
11. s only valid f8 Data bits lt StopBits gt 0 1 lt Parity gt 0 None 1 Odd 2 Even Example 1 Switch to SiRF Binary protocol at 9600 8 N 1 PSRF100 0 9600 8 1 0 0C lt CR gt lt LF gt Example 2 Switch to User protocol at 38400 8 N 1 PSRF100 4 38400 8 1 0 38 lt CR gt lt LF gt Checksum Field The absolute value calculated by exclusive OR the 8 data bits of each character in the Sentence between but excluding and The hexadecimal value of the most significant and least significant 4 bits of the result are convertted to two ASCII characters 0 9 A F for transmission The most significant character is transmitted first k lt CR gt lt LF gt Hex OD 0A 13 B Navigation Initialization ID 101 Parameters required for start This command is used to initialize the module for a warm start by providing current position in X Y Z coordinates clock offset and time This enables the receiver to search for the correct satellite signals at the correct signal parameters Correct initialization parameters will enable the receiver to acquire signals more quickly and thus produce a faster navigational solution When a valid Navigation Initialization command is received the receiver will restart using the input parameters as a basis for satellite selection and acquisition Format PSRF101 lt X gt lt Y gt lt Z gt lt ClkOffset gt lt TimeOfWeek gt lt WeekNo gt lt chnICount gt lt ResetC fg gt
12. t 1 6 mm Le PCB SIDE VIEW 71 12 mm 64 77 mm RF_SHIELD pitch 2 0 mm 6z ve WUW 99 DP 5 6 m ATRA 3 2 2 2606 mm uw rf m PCB TOP VIEW Interface Connection Pin out of the 20 pin interface connector A cae Name Description Type 1 VANT Antenna DC Voltage Input 2 VDC 3 8V 6 5V DC Power Input Input 3 VBAT Backup Battery Input 4 VDC Shorted with pin 2 Input 5 PBRES Push Button Reset Input Active Low Input 6 RESERVED Reserved Down load data from RS232 to flash 7 SELECT ROM Reserved 8 RESERVED Reserved 9 RESERVED Reserved 10 GND Ground 11 TXA Serial Data Output A GPS Data Output 12 RXA Serial Data Input A Command Input 13 GND Ground 14 TXB Serial Data Output B No Used Output 15 RXB Serial Data Input B DGPS Data Input 16 GND Ground 17 RESERVED Reserved 18 GND Ground 19 TIMEMARK 1PPS Time Mark Output Output 20 RESERVED Reserved Interface description VANT antenna DC power input DC voltage is for active antenna VDC DC power input This is the main DC supply for a 3 8V 6 5V power module board VBAT Backup battery This is the battery backup input that powers the SRAM and RTC when main power is removed Typical current draw is 10uA Without an external backup battery or Gold capacitor the mo
13. upport magnetic declination All course over ground data are geodetic WGS48 directions 11 VTG Course Over Ground and Ground Speed GPVTG 309 62 T M 0 13 N 0 2 K 6E Name Example Units Description Message ID GPVTG VTG protocol header Course 309 62 degrees Measured heading Reference T True Course degrees Measured heading Reference M Magnetic Speed 0 13 knots Measured horizontal speed Units N Knots Speed 0 2 Km hr Measured horizontal speed Units K Kilometers per hour Checksum 6E lt CR gt lt LF gt End of message termination 12 2 2 NMEA Input Command A Set Serial Port ID 100 Set PORTA parameters and protocol This command message is used to set the protocol SiRF Binary NMEA or USER1 and or the communication parameters baud data bits stop bits parity Generally this command would be used to switch the module back to SiRF Binary protocol mode where a more extensive command message set is available For example to change navigation parameters When a valid message is received the parameters will be stored in battery backed SRAM and then the receiver will restart using the saved parameters Format PSRF100 lt protocol gt lt baud gt lt DataBits gt lt StopBits gt lt Parity gt CKSUM lt CR gt lt LF gt lt protocol gt 0 SiRF Binary 1 NMEA 4 USERI lt baud gt 1200 2400 4800 9600 19200 38400 lt DataBits gt 8 7 Note that SiRF protocol i
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