GPS6185HR User`s Manual - RTD Embedded Technologies, Inc.
Contents
1. 24 5 mese eid aut accolas estt cule cO ed acted petere 24 Pulse oi idet etc etta etat o date vs Ext d nee uu 25 1 pulse sec output and LED sea tarere in A 25 Software Programtmlimg eei ite edet er t e p e 26 Device VO EU 26 GPS6185 Control Status nee cecec ccc ceecceceeeeeeeeaeceeeaeeeeeeaaesseaaesaaaeeaeeseaaeseeaeeesaesseaaeseeeaeeneeeaas 26 GPS6185 Digital l O end b oa 27 2 MPa 28 cbe e Pater E 29 GPS6185HR Specifications vie ed ee eed i eaten seed e uada Ug ne eee dep 30 GPS Receiver 30 Physical Attributes estes eL ge eL e Y tai aca etd ees 30 stone oh odes e edt desc 30 RF Signal Environment irt edita DAS a eene 30 Environmental Bese aac d IR tia a ieee deu di dn A ae T pado du 30 Page 5 of 35 GPS6185HR Operating Conditions esses eene 31 Additional Informatior a ts ete 32 NovAtel OEM4 G2L GPS Receiver essssssssssssssssss estne enne nennen nennen nnne nnns 32 NMEA 0183 v2 01 Stan2. 2mm female socket connector The table below shows the pin connections of the GPS receiver interface to the GPS6185HR Pin Name Description 1 GND Ground 2 GND Ground 3 VARF Variable Frequency Out 4 PPS 1 Pulse Per Second VCC 3 3V Supply 6 VCC 3 3V Supply 7 Event 2 Mark 2 Input 8 Event 1 Mark 1 Input 9 ERROR Fatal error when high 10 PV Valid GPS position when high 11 CTS2 COM 2 Clear to send 12 Reset Low indicates GPS in reset 13 RTS2 COM 2 Request to send 14 RXD2 COM 2 Received data 15 CTS COM 1 Clear to send 16 TXD2 COM 2 Transmitted data 17 1 Request to send 18 RXD1 COM 1 Received data 19 Reserved Reserved 20 TXD1 COM 1 Transmitted data 21 USB D USB data 22 USB USB data 23 GND Ground 24 GND Ground Page 12 of 35 CN5 GPS Utility Connector The GPS module has several discrete inputs and outputs that are accessed through CN5 The connections to CN5 are either direct to the Novatel module or buffered through the EPLD JP11 1 2 selects buffered through the EPLD and is the default setting Use JP11 2 3 if you can not tolerate the 7 5 nanoseconds of delay on these signals The pin connections are shown below Pin Name Description 1 PPS Output 1 Pulse Per Second Output 2 Output Variable Frequency Output 3
3. Event 1 Input Mark 1 Input 4 Event 2 Input Mark 2 Input 5 Reset Output Low indicates GPS is in reset 6 Reserved Reserved do not connect 7 PV Output High output indicates Valid GPS Position 8 ERROR Output High output indicates GPS Fatal Error 9 GND Ground 10 GND Ground Page 13 of 35 CN6 Serial Connector GPS COM can be directed to either the on board UART or this serial connector 10000 Pin RS 232 RS 232 Description RS 422 Name RS 422 Description 1 DCD Carrier Detect Reserved 2 DSR Data Set Ready Reserved 3 RxD Receive Data RxD Receive Data RTS Request To Send Transmit Data 4 5 TxD Transmit Data TxD Transmit Data CTS Clear To Send Receive Data 6 7 DTR Data Terminal Ready Reserved 8 RI Ring Indicator Reserved 9 GND Ground GND Ground 10 GND Ground GND Ground Note on using RS 422 or RS 485 Mode When using the serial port in RS 422 or RS 485 mode the serial transmitters are enabled and disabled under software control The transmitters are enabled by manipulating the Request To Send RTS signal of the first serial port controller This signal is controlled by writing bit 1 of the Modem Control Register MCR as follows e If MCR bit 1 1 then RTS 0 and serial transmitters are disabled e If MCR bit 1 0 then RTS 1 and serial transmitters are enabled For more
4. External Clock Input Connector Environmental Cooling Operating temperature Humidity UARTs Number Novatel OEM4 G2L series Hot 30 seconds warm 40 seconds cold 50 seconds 20 Hz 0 5 seconds L1 typical 1 second L2 typical 4G sustained tracking 515 m s 18 288 m RTCA RTCM RTCMV3 CMR and NMEA 5V MMOCX female connector MMOCX female connector Convection 40 to 85 RH up to 95 non condensing Page 30 of 35 UART compatibility 16C550 Oscillator frequency 1 8432 MHz or 14 7456 MHz jumper selectable Base addresses 64 each Interrupts 2 3 4 5 6 7 10 11 12 14 and 15 GPS6185HR Operating Conditions Operating temperature range 40 to 85 Storage temperature range 55 C to 125 C Humidity RH up to 95 non condensing Page 31 of 35 Additional Information NovAtel OEM4 G2L GPS Receiver For a downloadable datasheet for the Novatel GPS receiver visit the receiver manufacturer s website http Awww novatel com NMEA 0183 v2 01 Standard For a complete description on the National Marine Electronics Association NMEA 0183 v2 01 protocol visit the NMEA website http Awww nmea org Serial Port Programming For more information about programming serial port UARTs consult the following book Serial Communications Developer s Guide By Mark Nielson ISBN 0764545701 Interrupt Programming For more information about interrupts and writing interrupt service routines refer t
5. o X PS OS OS lt 308 310 318 320 328 330 338 OS 340 348 350 358 360 368 370 378 59 P lt OS OS P lt P lt OS 380 388 390 398 3A0 3A8 3B8 P lt P lt lt 3C0 3C8 3D0 3D8 OS PS OS PS PS OS 0 PS OS TDS OS PS PS OS PS OS OS OS OS DS Xxx Page 17 of 35 X X X X 3E8 x X X X X 3F0 X X X X X 3F8 X X X X X X By default the GPS6185HR comes configured with a base address of Ox3ES8 for the first UART which connects to GPS COM1 and 0x2E8 for the second UARD that connects to GPS COM2 When selecting a base address for the GPS6185HR please observe the following guidelines e Every device in your PC 104 system must have a unique base address When selecting a base address for the GPS6185HR make certain that it does not conflict with any other devices e Base addresses Ox3F8 and Ox2F8 are typically used by serial ports COM1 and COM2 respectively If you wish to use one of those base addresses you will need to disable any conflicting serial port e Some operating systems expect UART devices to be located at the s
6. CNS GPS Antenna GPS Utility Input NI I E CN4 On GPS Module ed 34 USB GPS External Clock Input CN3 On GPS Module 18 Digital 1 O PC 104 ISA Connector External l O Connections The following sections describe the external I O connections of the GPS6185HR Page 10 of 35 CN3 Digital Input Output Connector The GPS6185 offers 16 bit programmable digital I O lines These can be pulled high or pulled low through 10K Ohm resistors using JP2 to control bits 0100 DIO7 and JP1 to control bits DIO8 DIO15 Pin Name Description 1 GND Ground 2 DIOO Digital Input Output Bit 0 3 DIOl Digital Input Output Bit 1 4 DIO2 Digital Input Output Bit 2 5 DIO3 Digital Input Output Bit 3 6 DIO4 Digital Input Output Bit 4 7 DIOS Digital Input Output Bit 5 8 DIO6 Digital Input Output Bit 6 9 DIO7 Digital Input Output Bit 7 10 5 VDC 5 Volts DC 11 GND Ground 12 DIO8 Digital Input Output Bit 8 I3 DIO9 Digital Input Output Bit 9 14 DIO10 Digital Input Output Bit 10 15 DIO11 Digital Input Output Bit 11 16 DIO12 Digital Input Output Bit 12 17 DIO13 Digital Input Output Bit 13 18 DIO14 Digital Input Output Bit 14 19 DIO15 Digital Input Output Bit 15 20 5 VDC 5 Volts DC Page 11 of 35 CN7 GPS Receiver Connector to GPS module The GPS receiver module connects to the
7. Default open 19 Jumper Default Open 22 19 GPS Configuration Default JP8 1 2 closed 3 4 closed 19 JP8 amp JP10 Jumpers Default JP8 1 2 JP10 1 2 sss 20 JP9 Jumper Default 152 rrt eere d ee ce reete Reda ene ERR Pa 20 Page 4 of 35 DIO Pullup Pulldown Configuration Default JP1 amp JP2 2 3 closed 20 JP1 Jumper Default 2 8 ssssssssssssssessses 20 JP2 Jumper Default 2 3 urinii naniii esses entente nnne nennen nitentes 20 Active Antenna Supply ie ee t d 20 Board Inistallatiori acne dn faves dati un a dun den ide diee a dh 21 Installing the Flaraware i eee rr Cre e Lr E E RP CREER GER iad 21 Static Pr cautions e dp a ed emt dpt a at levee 21 Steps tate totos Cen eec nu tae 21 Gonfig ring SOftWare uo ct E e E LR eU ede deu 22 Hardware Description ceca ea dtd e dan c ena deu n d n dec n i na 23 MEE 23 Block Diagram ee ente eee oa tet etate a eed teet bate tet 23 The NovAtel GPS Receiver Modules sssssssssssseeeee eene 24 LUI 24 VARTS eus in
8. Default Open If JP3 is closed the RS 422 485 serial port on CN6 is terminated with 120 ohms This should only be used in RS 422 485 mode jumper 3 4 is open then jumper must be open GPS Configuration The jumper blocks JP8 and JP10 are used to configure the mode of operation of the GPS receiver module The location of jumpers JP8 and JP10 can also be found in the diagram at the beginning of this chapter Page 19 of 35 JP8 amp JP10 Jumpers Default JP8 1 2 JP10 1 2 JP8 1 2 and JP10 1 2 Default setting This setting enables the board s second UART and connects it to the Novatel GPS module s 2 JP8 1 2 and JP10 2 3 This setting connects the board s second UART to CN6 providing a standard serial port for the computer The Novatel module s COMe is not used in this configuration JP8 2 3 JP10 in either position This setting disables the board s second UART and connects the Novatel GPS module s COM2 to the serial connector CN6 In this setting the 1PPS signal can use the second UART s interrupt to generate a 1PPS interrupt JP9 Jumper Default 1 2 1 2 selects normal baud clock The UART clock for both UARTS is set to the PC standard 1 8432 MHz The highest baud rate possible is 115 2K baud 2 3 selects high speed baud clock This 14 7456 MHz UART clock will enable high speed baud clocks The highest baud rate possible is 921 6K baud With this setting baud rate divisors will be 8 times larger for
9. E Lost 8 16C550 Compatible tenens 8 Connector Descrption tete e a Rakete dide a aet 8 Available Options ceret e e e t p hen t pex eua ts 8 Getting Technical eter cies deae lle ea ue Deva 8 Board Gonnections is et itp te or RN att qe cee tee b ib teft 10 Connector and Jumper 10 External 5 10 CN3 Digital Input Output nennen 11 CN7 GPS Receiver Connector to GPS module 12 CN5 GPS Utility Connector ssssssssssesees esent enne nennen nnns nnns 13 6 eate e atv ettet 14 CNA USB GoHhnector io i het nte to e dede dee erba te 15 E 16 GPS COM Base Address Jumpers Default GPS 3E8h 2 8 16 IRQ Jumpers Default GPS IRQ 5 closed G Jumper 18 Default COM IRQ 10 closed G Jumper closed 18 leservedilbiQss u ait tn editas bees te t A 18 The E Feet epe detuvo ce UR RR an Fo cu AR TRE Re RACER ER HA e ados 19 RS 422 485 Termination for CN6
10. GPS6185HR User s Manual Global Satellite Positioning PC 104 Module RTD Embedded Technologies Inc Real Time Devices Accessing the Analog World amp BDM 610020042 Rev C 1509001 and AS9100 Certified GPS6185HR User s Manual RTD EMBEDDED TECHNOLOGIES INC 103 Innovation Blvd State College PA 16803 0906 Phone 1 814 234 8087 FAX 1 814 234 5218 E mail sales rtd com techsupport rtd com Web Site http www rtd com Page 2 of 35 Manual Revision History Rev New manual Rev B Added DIO description GPS installation and IDAN info Rev C Added JP10 and JP11 Published by RTD Embedded Technologies Inc 103 Innovation Boulevard State College PA 16803 Copyright 2005 by RTD Embedded Technologies Inc All rights reserved The RTD Embedded Technologies Logo is a registered trademark of RTD Embedded Technologies dspModule cpuModule and utilityModule are trademarks of RTD Embedded Technologies PC 104 PC 104 Plus and PCI 104 are registered trademarks of the PC 104 Consortium All other trademarks appearing in this document are the property of their respective owners Page 3 of 35 Table of Contents IntrOdUClions sitem benedixi eme edm 7 Product OVOrVIOW ate ha te ar 7 Board Features rtt eal etude 7 GPS6185HR F63tur6s Hen date icut 7 GPS BeCelVOL a Pe S eer Ud e aa e V duced zu ul p te ava dees 7 Interfaces SER
11. LITY AND FITNESS FOR A PARTICULAR PURPOSE AND RTD EMBEDDED TECHNOLOGIES EXPRESSLY DISCLAIMS ALL WARRANTIES NOT STATED HEREIN ALL IMPLIED WARRANTIES INCLUDING IMPLIED WARRANTIES FOR MECHANTABILITY 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 Page 35 of 35
12. able by the user as defined by the base address jumper settings After setting the base address the user has access to the internal resources of the GPS6185HR control logic These resources are not described in detail since they are mapped as a standard PC serial port A reference for programming serial port UARTs can be found in the chapter titled Additional Information at the end of this manual The I O map of the GPS6185HR is shown in below As shown the module occupies two blocks of eight addresses The Base Address designated as BA can be set using the jumpers as described in Chapter 2 Board settings The following sections describe the register contents of each address used in the I O map GPS6185HR I O Map Read Address DTR is used to reset the GPS GPS 7h GPS COM2 GPS COM2 COM BA Oh COM BA 7h Read RTD ID data GPS BA 400h GPS 401h GPS 402h GPS BA 403h GPS 404h GPS 405h GPS BA 406h GPS BA 407h GPS BA Base Address of GPS UART COM BA Base Address of COM UART Jumper selected to GPS COM2 GPS6185 Control Status GPS BA 403h Control Status Write Read 8 bit Write BitO Serial Port CN6 Protocol 0 RS 232 1 RS 422 485 Page 26 of 35 Bit 1 Serial Connector Source JP8 must be in 1 2 JP10 also performs this function 0 Novatel default 1 UART B Bit 2 1 PPS Interrupt Enable JP8 must be off 0 Disable default 1 Enable Bits 7 3 Reserved w
13. dard iesiri iiaii ede ina dace e e eet dead neus 32 Serial Port nnns 32 Interrupt Programming ee eda ee e du a oe da Doer dua e 32 GPS Antenas diete otiose oic ose se eode eret at 32 ADDONGIX Y 33 IDAN module Installation and Configuration essen 33 Installing NovAtel Module sssssssssesseseeee eene nennen nnns nennen nnns 33 Limited Warranty eee hdi 35 6 0135 Introduction Product Overview The GPS6185HR is designed to provide a global positioning system GPS for PC 104 based systems Included on the GPS6185HR is a NovAtel OEM4 G2L series GPS receiver The GPS6185HR has an onboard dual UART chip that permits communication with both serial ports on the GPS receiver module over the PC 104 bus without using other serial ports in the PC 104 system The GPS6185HR supports NAVMAN binary protocol and National Marine Electronics Association NMEA 0183 v2 01 messages Board Features GPS6185HR Features Two direct connections to onboard GPS receiver module Choice of GPS message formats RTCA RTCMV3 CMR NMEA PC 104 compliant GPS Receiver The OEM4 G2L is a parallel 24 channel dual frequency or 12 channel single frequency rec
14. e communicates through two dedicated UART channels allowing other serial ports in the system to be free for the user The 16C550 UART is recognized by all x86 operating systems and does not require a special communication driver to receive data from the GPS receiver The base address and interrupt of the UART channel can be changed with onboard jumpers For information on how to install the jumpers please refer to the Board Connections chapter of this manual Connector Description The GPS receiver antenna interface and external clock interface are female MMCX type miniature coaxial connectors Connect your antenna directly to the GPS6185HR antenna connector or use a short cable inside your enclosure to connect to a feed through connector to allow connection of the antenna to the wall of your enclosure The GPS module supplies up to 100 mA of 4 75 5 10 VDC for antenna LNA All other I O connections to the GPS6185HR use 0 1 header type terminals Available Options The GPS6185HR is available as a starter kit bundled with an active antenna It may also be purchased as an IDAN module for integration into an RTD IDAN system The following is a summary of the different GPS6185 configurations Part Number Description GPS6185HR GPS6185HR SK GPS6185HR GPS6185HR with an active antenna IDAN GPS6185HRS GPS6185HR mounted in an IDAN frame IDAN SK GPS6185HRS GPS6185HR mounted in an IDAN frame with an active antenna For antenna specificati
15. e included to secure the module to the carrier board Page 34 of 35 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 an 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 instructions 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 MERCHANTABI
16. eiver featuring a 60 mm x 100 mm form factor and low power consumption All OEM4 G2L cards feature position output real time DGPS positioning support for RTCA and RTCM messages two serial ports and a USB interface The OEM4 G2L is configurable as a rover or base station and is designed for embedded applications All OEM4 family receivers have the following features 24 channel all in view parallel tracking Pulse Aperture Correlator PAC technology Fast reacquisition Fully field upgradeable firmware Low power consumption 20 Hz raw data and position output rates At a minimum the following models are available for each receiver L1 only L1 L2 L1 plus RT 20 L1 L2 plus RT 2 L1 plus Satellite Based Augmentation System SBAS support L1 L2 plus SBAS support Those models with dual frequency capabilities make the following possible Longer baselines in differential positioning mode due to the reduction errors Faster resolution of carrier phase ambiguities when performing RTK Enhanced positioning precision due to the additional measurements Page 7 of 35 VO Interfaces The GPS6185HR can be controlled and monitored by software through the two dedicated serial ports of the module A utility connector provides a connection to the onboard GPS 1 pulse sec time mark as well as programmable onboard timing signals Two event inputs can be used to trigger position of time logs 16C550 Compatible UARTs The GPS receiver modul
17. information on the serial port registers including the MCR please refer to a standard PC AT hardware reference for the 16550 type UART Page 14 of 35 CN4 USB Connector GPS can be connected to a CPU USB port The NovAtel module will appear as three COM ports to the system 10000 Pin Name Description 1 Vcc USB Power Input Does not power NovAtel Receiver 2 n c No connect 3 D USB Data 4 n c No connect S D USB Data 6 n c No connect 7 GND No connect 8 GND No connect 9 Shield Shield 10 Shield Shield Page 15 of 35 Jumpers The following sections describe the jumper configuration options available on the GPS6185HR For a reference that shows the location of each set of jumpers refer to the diagram of the GPS6185HR at the beginning of this chapter The default factory jumper settings are listed in the following table Jumper Description Default Factory Setting GPS Base Address Jumpers Set to 3E8h COM3 COM Base Address Jumpers Set to 2E8h GPS Jumpers 5 and G jumper closed COM IRQ Jumpers IRQ 10 and G jumper closed GPS Configuration Jumper JP8 1 2 GPS COM2 to second UART GPS Configuration Jumper JP9 1 2 PC compatible baud clock GPS Configuration Jumper JP10 1 2 CN6 serial port disabled GPS Configuration Jumper 11 1 2 CN5 signals buffered DIO Pullup Pulldown 1 a
18. nce the interrupt has been processed the IRQ line is de asserted The GPS6185HR uses jumper selected interrupts for both UARTs However it will not actually generate interrupts unless the Interrupt Enable register has been properly programmed Since the GPS6185HR has 16C550 UARTS it supports all of the standard serial port interrupt events These events include e Received data available e Transmit buffer empty e Line Status Register change e Modem Status Register change A detailed explanation of serial port interrupts is beyond the scope of this manual For more information consult a serial port programming reference The chapter titled Additional Information lists some resources to help the user Note When the UART clock is running at a higher frequency transmit receive interrupts will happen more frequently Many operating systems can not process interrupts quickly enough to handle this load When developing your software be sure to consider the operating system s limitations Page 29 of 35 GPS6185HR Specifications GPS Receiver Specifications Physical Attributes o Size 3 6 L x 3 8 W x 0 6 H 90mm L x 96mm W x 15mm o Weight 0 24bs 0 10 Kg o Power Consumption 2W 5 VDC Typical Operational GPS receiver Time to first fix Update rate Reacquisition Dynamics Vibration Velocity Height Supported data protocols GPS6185 board power requirement RF Signal Environment Antenna Connector
19. nd JP2 Pulldown RS 422 485 Termination JP3 Open no termination GPS or COM Base Address Jumpers Default GPS z 3E8h COM 2E8h The base address selection jumpers A3 through A8 allow you to set the base address of the first UART that connects to the GPS module COM1 and the second UART that connects to the GPS COM2 Any software that accesses the board will do so through reads and writes to the I O address set by the jumpers To function properly the I O address the software is expecting must match the base address set by the jumpers As shown in the figure below A3 is located at the left end of the jumper block while A8 is located at the right end SERERE The table on the following pages shows the possible base address settings for the GPS6185HR All base addresses are in hexadecimal An X indicates a closed jumper while an empty cell indicates an open jumper Base Address Jumpers Hexadecimal A8 A7 AB A4 200 208 X 210 X 218 X X 220 X 228 X X Page 16 of 35 230 238 240 248 250 258 260 268 270 278 PLP OS PS OS DS lt P lt 280 288 290 298 2A0 2A8 2B0 2B8 09 lt lt lt 2C0 2C8 2D0 2D8 2 F I 2E8 2 0 2 8 300 9 OS OS
20. nd support this serial communication device The GPS6185HR uses its own onboard serial port and will not reserve serial port resources from the system The I O base address and interrupt for this serial port can be flexibly set as described in previous chapters of this manual After setting the base address and IRQ you can use any communication software package or terminal program to connect to your GPS6185HR UART The oscillator frequency is 1 8432 MHz default or 14 7456 MHz A reference for programming serial port UARTs can be found in the chapter titled Additional Information at the end of this manual Only TXD RXD CTS and RTS lines of the UART are connected to the GPS receiver The DTR signal of the first UART is used to generate a GPS reset signal A reset pulse will be generated when the DTR signal transitions from asserted to de asserted MCR bit 0 transitions from 1 to 0 USB The OEM4 G2L receivers running firmware version 2 100 or higher along with the accompanying NovAtel USB drivers for Windows 2000 and Windows XP provide three virtual serial ports over a single USB connection using USB D and USB D signals These three virtual serial ports identified by the GPSCard as USB1 USB2 and USB3 are available to existing Windows applications which use COM ports to communicate for example HyperTerminal and GPSolution4 The NovAtel USB drivers assign COM port numbers sequentially following any Page 24 of 35 existing po
21. o the following book Interrupt Driven PC System Design By Joseph McGivern ISBN 0929392507 GPS Antennas Novatel offers a varity of GPS antennas suitable for these receivers on thier website http www novatel com Page 32 of 35 Appendix IDAN module Installation and Configuration The following section describes how to connect a Novatel GPS module in the IDAN frame and make the necessary connections to the IDAN cables IDAN GPS6185HRS Connection Locations Ribbon Cables Bottom View disconnected for viewing Digital GPS Antenna e Input GPS Antenna CLESG YEPEREECOETESEYY YY 44 Cf 66er A On Module SMA Input GPS External Clock SMA GPS External Input Clock Input On Module PC 104 ISA Connector Installing NovAtel Module cables possible will be connected to the module You will have to remove the Digital I O connection to get access to the RF connectors located on the NovAtel Module Refer to page ten of this manual for board connector locations Do not force connectors as this may damage the connectors Install the two MMCX conectors to the poper positions and reinstall the Digital I O connector Place the IDAN frame in the IDAN stack and connect the antenna for proper operation Page 33 of 35 IDAN GPS6185HRS Connection Locations TopView PC 104 ISA Connector GPS Antenna SMA Input GPS External Clock SMA Input Digital 6 mounting standoffs with screws ar
22. onfiguring Software The GPS6185HR uses a standard serial port UART for host communication Therefore you must install a serial port under your host operating system for the GPS6185HR to be recognized If the GPS6185HR was installed using a standard serial port base address Ox3F8 Ox2F8 Ox3E8 or Ox2E8 your operating system may detect the GPS6185HR s UART automatically If the GPS6185HR was not auto detected or if it was configured with a non standard base address the serial port will need to be configured manually Beyond the IRQ and base address you may also need to configure the serial port parameters The UART interface is controlled by jumper settings The procedure for configuring the serial port will vary depending on the operating system Consult the operating system s documentation for instructions on how to do this Page 22 of 35 Hardware Description Overview This chapter describes the major hardware building blocks of the GPS6185HR The components discussed in this chapter include e The GPS Receiver Module e Antenna e UART Channel e Pulse Outputs Block Diagram Below is a block diagram of the GPS6185HR 16C550 UART 1 16C550 UART 2 COM1 NovAtel OEM4 G2L GPS 2 Utility Mux Controlled by JP8 and JP10 Page 23 of 35 The NovAtel GPS Receiver Modules The GPS6185 supports all NovAtel OEM4 G2L GPS Receiver Modules The OEM4 G2L isa parallel 24 channel d
23. ons please refer to the Additional Information chapter of this manual Getting Technical Support If you are having problems with your system please try the following troubleshooting steps Page 8 of 35 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 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 obtain the base address and IRQ settings of the GPS6185HR and other modules in the system After you have this information contact RTD Embedded Technologies via the following methods Phone 1 814 234 8087 E Mail techsupport rtd 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 Page 9 of 35 Board Connections Connector and Jumper Locations The following diagram shows the location of all connectors and jumpers on the GPS6185HR Future revisions of the GPS6185HR may have cosmetic differences For a description of each jumper and connector refer to the following sections GPS6185HR Connector and Jumper Locations Base Address IRQ Jumpers Jumpers and G Jumper GPS GPS eM 0 1 8 JP2 DIO Pullup Pulldown CN6 Serial Port
24. ower cord 2 Ground yourself with an anti static strap 3 Setthe Base Address and IRQ jumpers as described in the previous chapter 4 Steps 4 through 7 are only necessary if you have purchased the GPS61885HR without the module Refer to Appendix A for IDAN connector configuration 5 Line up the pins of the NovAtel module you have purchased with the GPS6185HR s socket connector and gently press the module onto the board Do not attempt to force the module onto the board as this can lead to bent broken pins 6 Install the screws that are shipped with the board to secure the module to the carrier board 7 Attach the external antenna to the MMCX connector 8 Attach the external clock input MMCX connector 9 Line up the pins of the GPS6185HR s PC 104 connector with the PC 104 bus of the stack and gently press the board onto the stack The board should slide into the matching PC 104 connector easily Do not attempt to force the board as this can lead to bent broken pins If any boards are to be stacked above the GPS6185HhR install them 10 Attach any necessary cables to the PC 104 stack 11 Re connect the power cord and apply power to the stack 12 If the system has a PCI bus enter the BIOS setup and reserve the GPS6185HR s IRQ as a Legacy ISA resource 13 Apply power to the system and verify that all of the hardware is working properly Once power is applied the GPS receiver will automatically initialize Page 21 of 35 C
25. rite as 0 Value after reset is Read BitO Serial Port CN6 Protocol 0 RS 232 1 RS 422 485 Bit1 Reserved read as 0 Bit2 GPS Reset Status 0 GPS in reset 1 GPS normal GPS Position Valid 0 GPS not ready 1 GPS position valid Bit 4 GPS Error 0 GPS normal 1 GPS error Bit 5 Event 1 0 Event 1 input is low 1 Event 1 input is high Bit 6 Event 2 0 Event 2 input is low 1 Event 2 input is high Bit 7 GPS 1 Pulse per second 1 pulse per second from GPS GPS6185 Digital I O GPS BA 404h Digital I O 1 8 Write Read 8 bit This register controls the output bits 1 8 The last data written to the port or the input data depending on the state of the direction bit in register BA 406h can be read by reading BA 404h GPS BA 405h Digital I O 9 16 Write Read 8 bit Page 27 of 35 This register controls the output bits 9 16 The last data written to the port or the input data depending on the state of the direction bit in register BA 407h can be read by reading BA 405h GPS 406h Direction Write Read 8 bit This register controls the direction of I O bits 1 8 A 1 written to a bit will set that bit to an output a O will set the bit to an input At reset all bits are set to inputs JP2 can be used to add either a 10K Ohm pullup or pulldown to the I O pins GPS 407h Direction Write Read 8 bit This register controls the direction of I O bits 9 16 A 1 written to a bit
26. rts on the PC For example if a PC has COM1 ports the NovAtel USB drivers will assign to 0581 to 0582 and 5 to 0583 The assignment of COM port numbers is tied to the USB port on the PC This allows you to switch receivers without Windows assigning new COM ports However if you connect the receiver to a different USB port Windows detects the receiver s presence on that USB port and assigns three new COM port numbers The NovAtel USB Configuration Utility installed with the NovAtel USB drivers allows you to change the COM port numbers assigned to the virtual serial ports The USB drivers along with installation instructions are available on the OEM4 Family CD by selecting USB Support from the main menu You can also check for updates to the drivers or release notes on NovAtel s website at www novatel com Pulse Outputs 1 pulse sec output The GPS receiver on the GPS6185HR generates a 1 pulse sec buffered TTL level output that is synchronized with the Coordinated Universal Time UTC second The rising edge of this signal is synchronized with the UTC within 50 ns The receiver software produces a data message containing the UTC time associated with each time mark pulse This signal is available on CN5 Page 25 of 35 Software Programming Device I O Map The GPS6185HR is an mapped device The each serial port GPS6185HR occupies eight bytes of host PC I O space This window is freely select
27. tandard serial port base addresses 0x3F8 Ox2F8 Ox3E8 and 0x2E8 Setting your GPS6185HR to one of these addresses can make system setup and configuration easier IRQ Jumpers Default GPS IRQ 5 closed G Jumper closed Default COM IRQ 10 closed Jumper closed The IRQ selection jumpers allow you to set the IRQ used by the serial port UART of the GPS6185HR The GPS6185HR can be configured for any one of the following IRQs 2 3 4 5 6 7 10 11 12 14 or 15 The IRQ can be set by closing the appropriately labeled jumper on the board The IRQ jumpers are located next to base address jumpers as shown in the diagram at the beginning of this chapter j 4 t Note Typically IRQs can not be shared although there are some special cases see The G Jumper later in this document In general the IRQ you select should not be used by any other devices in your system Reserved IRQs Some of the IRQ choices on the GPS6185HR may already be used by your CPU s onboard peripherals Some commonly used IRQs are e IRQ 2 9 is used by some VGA controllers Page 18 of 35 IRQ 3 or 4 be set to a serial port in your system You may need to disable a serial port in your system prevent an IRQ conflict IRQ 5 or 7 may be used by the CPU s parallel port Check your CPU s configuration to avoid a conflict IRQ 12 is used by the PS 2 mouse To use this IRQ you
28. the same baud rate For example in normal mode 9600 baud has a baud rate divisor of 12 In high speed mode 9600 baud has a baud rate divisor of 12 8 96 DIO Pullup Pulldown Configuration Default JP1 amp JP2 2 3 closed JP1 Jumper Default 2 3 2 3 closed selects a 10 Kohm pulldown on digital I O DIO8 01015 1 2 closed selects a 10 Kohm pullup on digital I O DIO9 01016 JP2 Jumper Default 2 3 2 3 closed selects a 10 Kohm pulldown on digital DIO1 DIO8 1 2 closed selects a 10 Kohm pullup on digital l O DIO1 0108 Active Antenna Supply The antenna connector supplies up to 100 ma of 4 75 5 10 volts for active GPS antennas Page 20 of 35 Board Installation Installing the Hardware The GPS6185HR can be installed into a PC 104 or PC 104 Plus stack It can be located almost anywhere in the stack above or below the CPU Note GPS6185HR is installed in a PC 104 Plus system be sure to not break the chain of PCI devices such as stacking the GPS6185HR between two PC 104 Plus boards Static Precautions 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 Steps for Installing 1 Shut down the PC 104 system and unplug the p
29. ual frequency or 12 channel single frequency receiver featuring a 60 mm x 100 mm form factor and low power consumption All OEM4 G2L cards feature position output real time DGPS positioning support for RTCA and RTCM messages two serial ports and a USB interface The OEMA4 G2L is configurable as a rover or base station and is designed for embedded applications Communication to and from the receiver is performed through one or two serial channels that are connected to onboard UARTs The receiver s primary serial port outputs navigation data and accepts commands from the OEM application is always connected to the first UART on the GPS6185 The secondary serial port on the GPS module can be directed to either the second UART channel or to a connector to interface with external devices This manual is not intended to be a GPS handbook For more information on the GPS receiver module please refer to the chapter titled Additional Information Antenna An active antenna is required because its low noise amplifier LNA boosts the power of the incoming signal to compensate for the line loss between the antenna and the receiver NovAtel offers a variety of single and dual frequency GPS antenna models All include band pass filtering and an LNA The GPS antenna you choose will depend on your particular application UARTs GPS data is sent to the host from the receiver through standard 16C550 compatible UARTs All x86 operating systems will recognize a
30. will need to remove the PS 2 mouse from the system Some CPUs also require a BIOS setting to disable the PS 2 mouse controller IRQ 14 is used by the primary IDE controller To use this IRQ you will need to disable the primary IDE controller IRQ 15 is used by the secondary IDE controller To use this IRQ you will need to disable the secondary IDE controller The G Jumper The GPS6185HR supports shared interrupts as defined by the PC 104 specification This sharing is accomplished via the G jumper which is located adjacent to the IRQ jumpers The G jumper installs a 1K ohm resistor to pull the signal to the low state allowing an interrupt to drive the signal high To share interrupts configure the devices for the same IRQ and close the G jumper on one and only one of the devices When using interrupt sharing consider the following guidelines An interrupt can only be shared if all devices on the IRQ support it If you have two sharing and one non sharing device on the same IRQ it will not work To share interrupts the system s drivers and operating system must support it The Interrupt Service routines must be written to check all devices on an IRQ when the interrupt is detected Many popular operating systems do not support interrupt sharing for ISA devices Note If you are not sharing interrupts make sure you leave the GPS6185HR s G jumper closed RS 422 485 Termination for CN6 Default JP3 open Jumper
31. will set that bit to an output a 0 will set the bit to an input At reset all bits are set to inputs JP1 can be used to add either a 10K Ohm pullup or pulldown to the I O pins GPS6185 RTD ID GPS 400h BA 401h RTDID Read only 8 bit or 16 bit RTD ID is a method to identify a board on the ISA bus There are two 8 bit registers mapped at 400h and 401h above the board base address The registers can be read as two 8 bit or one 16 bit An internal pointer is auto incremented with every read to either address so the data read will step through the table below The pointer is set to zero at reset GPS 402 RTD ID Reset Pointer Read only 8 bit only A read to BA 402 will set a pointer that determines what data will be read when you read BA 400h and BA 401h The pointer is set to zero at reset 8 bit read 16 bit read 85h 6185h 410 Vendor ID 1435h 14h Jer Revision Revision jn Revision Revision MSD Revision MSD Reserved Ignore Ignore Page 28 of 35 Board name string FFFFh Interrupts Interrupts are used to notify the host CPU that an event happened on a particular device In general interrupts are more efficient than a polling technique where the CPU must query the device status at regular intervals Devices that use interrupts have a special connection to the CPU called an interrupt request line IRQ When the device needs the CPUS attention it asserts the IRQ line O
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