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SiRFstarIIeLP Evaluation Kit User's Guide

1. Binary Hex ASCII Decimal Name Bytes Scale Example Units Scale Example Message ID 1 14 20 SV ID 2 0001 1 Period 2 001E sec 30 Bit Sync Time 2 0002 sec 2 Bit Count 2 3F70 13680 Poor Status 2 001F 31 Good Status 2 0D29 3369 Parity Error Count 2 0000 0 Lost VCO Count 2 0000 0 Frame Sync Time 2 0006 sec 6 C No Mean 2 10 01C6 10 45 4 C No Sigma 2 10 0005 10 0 5 Clock Drift Change 2 10 1BOE Hz 10 692 6 Clock Drift 4 10 000EB41A Hz 10 96361 0 Reserved 2 0000 Reserved 4 00000000 Reserved 4 00000000 Reserved 4 00000000 Reserved 4 00000000 Reserved 4 00000000 Payload length 51 bytes SiRF Binary Protocol Reference Manual September 2004 Qo II Test Mode 3 Output Messages Table 3 58 Detailed Description of Test Mode 2 Message Name Description Message ID Message I D number SV ID The number of the satellite being tracked Period The total duration of time in seconds that the satellite is tracked Bit Sync Time The time it takes for channel 0 to achieve the status of 37 Bit Count The total number of data bits that the receiver is able to demodulate during the test period As an example for a 20 second test period the total number of bits that can be demodulated by the receiver is 12000 SOBPS x 20 sec x 12 channels Poor Status This value is derived from phase accumulation time Phase
2. Name Bytes Description Climb Rate 2 In m s x 102 Heading Rate 2 deg s x 102 SiRFDRive only Estimated Horizontal Position Error 4 EHPE in meters x 102 SiRFDRive only Estimated Vertical Position Error 4 EVPE in meters x 10 SiRFDRive only Estimated Time Error 4 ETE in seconds x 10 SiRFDRive only Estimated Horizontal Velocity Error 2 EHVE in m s x 102 SiRFDRive only Clock Bias 4 In m s x 102 Clock Bias Error 4 In meters x 107 SiRFDRive only Clock Drift 4 In m s x 10 Clock Drift Error 4 In m s x 102 SiRFDRive only Distance Traveled since Reset 4 In meters SiRFDRive only Distance Traveled error 2 In meters SiRFDRive only Heading Error 2 In degrees x 102 SiRFDRive only Number of SVs in Fix 1 Count of SVs indicated by SV ID list HDOP 1 Horizontal Dilution of Precision x 5 0 2 resolution Reserved 1 Payload length 91 bytes 1 Map Datum indicates the datum to which latitude longitude and altitude relate 21 WGS 84 by default Other values will be defined as other datums are implemented Availab Tokyo Japan 180 Tokyo Korea 181 Tokyo Okinawa e datums include 21 WGS 84 178 Tokyo Mean 179 Note Values are transmitted as integer values When scaling is indicated in the Description the decimal value has been multiplied by the indicated amount and then converted to an integer Example Value transmitted 2345 indicated
3. Binary Hex ASCII Decimal Name Bytes Scale Example Units Scale Example Message ID 1 0 10 Error ID 2 2001 8193 Count 2 0001 1 uartAllocError 4 00000001 1 Payload length 9 bytes Table 3 39 Error ID 8193 Message Description Name Description Message ID Message ID number Error ID Error ID see Error ID description above Count Number of 32 bit data in message uartAllocError Contents of variable used to signal UART buffer allocation error Error ID 8194 0x2002 Code Define Name Error ID Description Example ErrId MI UpdateTimeFailure PROCESS ISEC task was unable to complete upon entry Overruns are occurring A0A2000D Start Sequence and Payload Length 0A200200020000000100000064 Payload 0093B0B3 Message Checksum and End Sequence 3 19 3 20 Table 3 40 Error ID 8194 Message Binary Hex ASCII Decimal Name Bytes Scale Example Units Scale Example Message ID 1 0 10 Error ID 2 2002 8194 Count 2 0002 2 Number of in process 4 00000001 1 errors Millisecond errors 4 00000064 100 Payload length 13 bytes Table 3 41 Error ID 8194 Message Description Name Description Message ID Message ID number Error ID Error ID see Error ID description above Count Number of 32 bit data in message Number of in process errors Number of one second updates not complete on e
4. Binary Hex Name Bytes Scale Example Units Description In Protocol 1 05 For UART 2 Out Protocol 1 05 For UART 2 Baud Rate 4 00000000 For UART 2 Data Bits 1 00 For UART 2 Stop Bits 1 00 For UART 2 Parity 1 00 For UART 2 Reserved 1 00 For UART 2 Reserved 1 00 For UART 2 Port 1 FF For UART 3 In Protocol 1 05 For UART 3 Out Protocol 1 05 For UART 3 Baud Rate 4 00000000 For UART 3 Data Bits 1 00 For UART 3 Stop Bits 1 00 For UART 3 Parity 1 00 For UART 3 Reserved 1 00 For UART 3 Reserved 1 00 For UART 3 Payload length 49 bytes 1 OXFF means to ignore this port otherwise put the port number in this field e g 0 or 1 2 0 SiRF Binary 1 NMEA 2 ASCII 3 RTCM 4 Userl 5 No Protocol 3 Valid values are 1200 2400 4800 9600 19200 38400 and 57600 4 Valid values are 7 and 8 5 Valid values are 1 and 2 6 0 None Odd 2 Even Note While this message supports four UARTs the specific baseband chip in use may contain fewer Set Message Rate Message ID 166 Table 2 41 contains the input values for the following example Set MID 2 to output every 5 seconds starting immediately Example A0A20008 Start Sequence and Payload Length A600020500000000 Payload 00ADBOB3 Message Checksum and End Sequence Input Messages 2 23 II Table 2 41 Set Message Rate Binary Hex
5. 2 5 Table 2 8 Switch To NMEA Protocol esses esses 2 6 Table 2 10 Set Almanac Message 2 7 Table 2 9 Mode Values ose DEREN wau DUM yaa RC EE ears 2 7 Table 2 11 Set Send Command String Parameters 2 8 Table 2 12 Member Sizes Data 2 9 Table 2 13 Software VerSiOn osckeseocRe lie Yu ened ees eens 2 9 Table 2 14 DGPS Source Selection Example 1 2 10 Table 2 15 DGPS Source Selection Example 2 2 11 Table 2 16 DGPS Source Selections 0 0 ietie eee eee 2 11 XV Table 2 17 Table 2 19 Table 2 18 Table 2 22 Table 2 23 Table 2 20 Table 2 21 Table 2 24 Table 2 25 Table 2 27 Table 2 26 Table 2 28 Table 2 29 Table 2 30 Table 2 31 Table 2 32 Table 2 33 Table 2 34 Table 2 35 Table 2 36 Table 2 37 Table 2 38 Table 2 40 Table 2 39 Table 2 42 Table 2 41 Table 2 43 Table 2 44 Table 3 1 Table 3 3 Table 3 2 Table 3 4 Internal Beacon Search 2 11 Mode Control enti nk sawa AU REIR Ee 2 12 Set Main Serial Portes pasta Sad 2 12 DOP Mask asa be L eee Re 2 13 DOP Selection moe DER AERA 2 13 Degraded Mode Ie eee 2 13 Altitude Hold Mode u aaa aa eee 2 13 DGPS Controle cis ee aasan au See ea owe ERS 2 14 DGPS
6. 3 8 50 BPS Data Message ID 8 3 9 CPU Throughput Message ID9 3 10 Error ID Data Message ID 10 3 10 Command Acknowledgment Message ID 11 3 21 Command NAcknowledgment Message ID 12 3 21 Visible List Message ID 13 3 21 Almanac Data Message ID 14 3 22 Ephemeris Data Response to Poll Message ID 15 3 23 Test Mode 1 Message ID 16 3 24 Differential Corrections Message ID 17 3 25 OkToSend Message ID 18 3 25 Navigation Parameters Response to Poll Message ID 19 3 26 Test Mode 2 3 4 Message ID 20 3 28 Test Mode 2 oot Am e t bai e ea cote uM dra de AEn 3 28 Test Mode 3 ee E EERE 3 29 Test Mode F u anu POR RS eg 3 31 Navigation Library Measurement Data Message ID 28 3 32 Navigation Library DGPS Data Message ID 29 3 35 Navigation Library SV State Data Message ID 30 3 35 Navigation Library Initialization Data Message 10 31 3 36 Geodetic Navigation Data Message ID41 3 38 Queue Command Parameters Message ID 43 3 40 vii Vill DR Raw Data Message
7. 3 13 Error ID 4097 Message 3 14 Error ID 4097 Message Description 3 14 Error ID 13 M 883886 geist scien ERR YN VNDE Res 3 14 Error ID 13 Message 3 14 Error ID 4099 Message 3 15 Error ID 4099 Message Description 3 15 Error ID 4104 Message 3 16 Error ID 4104 Message sss 3 16 Error ID 4105 Message 3 17 Error ID 4105 Message Description 3 17 Error ID 4106 Message 3 18 Error ID 4106 Message Description 3 18 Error ID 4107 Message 3 18 Table 3 38 Table 3 39 Table 3 37 Table 3 42 Table 3 43 Table 3 40 Table 3 41 Table 3 44 Table 3 45 Table 3 46 Table 3 47 Table 3 49 Table 3 48 Table 3 51 Table 3 50 Table 3 53 Table 3 52 Table 3 54 Table 3 55 Table 3 56 Table 3 57 Table 3 59 Table 3 58 Table 3 60 Table 3 61 Table 3 62 Table 3 63 Table 3 64 Table 3 65 Table 3 66 Table 3 67 Table 3 68 Error ID 8193 Message 3 19 Error ID 8193 Message Description 3 19 Error ID 4107 Message Description 3 19 Error ID 8195 Message
8. 1 5 0 5 20 2 1 00 Bitmap 0 GPS Week 2 036B 875 GPS TOW 4 100 039780E3 seconds 100 602605 79 SVs in Fix 1 06 6 CH 1 PRN 1 12 18 3 3 3 4 Table 3 4 Measured Navigation Data Out Message Data Format Continued Binary Hex ASCII Decimal Name Bytes Scale Example Units Scale Example CH 2 PRN 1 19 25 CH 3 PRN 1 OE 14 CH 4 PRN 1 16 22 CH 5 PRN 1 OF 15 CH 6 PRN 1 04 4 CH 7 PRN 1 00 0 CH 8 PRN 1 00 0 CH 9 PRN 1 00 0 CH 10 PRN 1 00 0 CH 11 PRN 1 00 0 CH 12 PRN 1 00 0 Payload length 41 bytes 1 For further information go to Table 3 5 2 HDOP value reported has a maximum value of 50 3 For further information go to Table 3 6 4 GPS week reports only the ten LSBs ofthe actual week number 5 PRN values are reported only for satellites used in the navigation solution Note Binary units scaled to integer values need to be divided by the scale value to receive true decimal value 1 decimal binary X 8 Table 3 5 Mode 1 Bit 7 6 5 4 3 2 1 Bit s Name DGPS DOP Mask ALTMODE TPMODE PMODE Bit s Name Name Value Description PMODE Position mode No navigation solution 1 SV solution Kalman filter 2 SV solution Kalman filter 3 SV solution Kalman filter 7 3 SV solution Kalman filter 2 D point solu
9. Name Description Message ID Message ID number Error ID Error ID see Error ID description above Count Number of 32 bit data in message Error ID 4107 0x100B Code Define Name Errld KFC_BackupFailed NumSV Error ID Description Failed battery backing position because current navigation mode is not KFNav and not LSQFix Example A0A20005 Start Sequence and Payload Length 0A100B0000 Payload 0025B0B3 Message Checksum and End Sequence Table 3 36 Error ID 4107 Message Binary Hex ASCII Decimal Name Bytes Scale Example Units Scale Example Message ID 0 10 Error ID 2 100B 4107 Count 2 0000 0 Payload length 5 bytes SiRF Binary Protocol Reference Manual September 2004 Qo II Output Messages Table 3 37 Error ID 4107 Message Description Name Description Message ID Message ID number Error ID Error ID see Error ID description above Count Number of 32 bit data in message Evror ID 8193 0x2001 Code Define Name Error ID Description Example ErrId MI BufferAllocFailure Buffer allocation error occurred Does not appear to be active because uartAllocError variable never gets set to a non zero value in the code A0A20009 Start Sequence and Payload Length 0A2001000100000001 Payload 002DB0B3 Message Checksum and End Sequence Table 3 38 Error ID 8193 Message
10. 2 20 Poll Navigation Parameters Message ID 152 2 21 Set UART Configuration Message ID 165 2 22 Set Message Rate Message ID 166 2 23 Set Low Power Acquisition Parameters Message ID 167 2 24 Poll Command Parameters Message ID 168 2 24 Set SBAS Parameters Message ID 170 2 25 Initialise GPS DR Navigation Message ID 172 Sub ID 1 2 26 Set GPS DR Navigation Mode Message ID 172 Sub ID 2 2 26 Set DR Gyro Factory Calibration Message ID 172 Sub ID 3 2 27 Set DR Sensors Parameters Message ID 172 Sub ID 4 2 27 Poll DR Gyro Factory Calibration Message ID 172 Sub ID 6 2 27 Poll DR Sensors Parameters Message ID 172 Sub ID 7 2 27 SiRF Binary Protocol Reference Manual September 2004 Contents Reserved Message ID 228 0 0 ce ayna ea pu sus 2 28 3 Output Messages 3 1 Reference Navigation Data Message ID 1 3 3 Measure Navigation Data Out Message ID2 3 3 True Tracker Data Message ID 3 3 6 Measured Tracker Data Out Message 4 3 6 Raw Tracker Data Out Message ID 5 3 7 Software Version String Response to Poll Message ID6 3 8 Response Clock Status Data Message ID 7
11. Output Messages 3 11 3 12 Evror ID 10 Code Define Name Errid TimeExceeded Error ID Description Conversion of Nav Pseudo Range to Time of Week TOW for tracker exceeds limits Nav Pseudo Range gt 6 912e5 1 week in seconds Nav Pseudo Range lt 8 64e4 Example A0A20009 Start Sequence and Payload Length 0A000A000100001234 Payload 005BBOB3 Message Checksum and End Sequence Table 3 18 Error ID 10 Message Binary Hex ASCII Decimal Name Bytes Scale Example Units Scale Example Message ID 1 0 10 Error ID 2 000A 10 Count 2 0001 1 Pseudorange 4 00001234 4660 Payload length 9 bytes Table 3 19 Error ID 10 Message Description Name Description Message ID Message ID number Error ID Error ID see Error ID description above Count Number of 32 bit data in message Pseudorange Pseudo Range Error ID 11 Code Define Name Errld TDOPOverflow Error ID Description Convert pseudorange rate to Doppler frequency exceeds limit Example A0A20009 Start Sequence and Payload Length 0A000B0001xxxxxxxx Payload xxxxB0B3 Message Checksum and End Sequence Table 3 20 Error ID 11 Message Binary Hex ASCII Decimal Name Bytes Scale Example Units Scale Example Message ID 1 0 10 Error ID 2 000B 11 Count 2 0001 1 Doppler Frequency 4 XXXXXXXX XXXXXXXX Payload length 9
12. 3 20 Error ID 8195 Message Description 3 20 Error ID 8194 Message 3 20 Error ID 8194 Message 3 20 Command Acknowledgment 3 21 Command N Acknowledgment 3 21 Visible 180 22 gon da dr clea By cto alate det ia drogas 3 22 Contents of Message ID 14 3 22 Contents of Message ID 14 3 23 Byte Positions Between Navigation Message and Data Array 3 23 Test Mode Data x crei upas c peer pe 3 24 Byte Positions Between Navigation Message and Data Array 3 24 RTCM message nd e eee p ete ptt es 3 25 Detailed Description of Test Mode 1 Data 3 25 Almanac Data stb REI eos 3 26 Navigation Parameters 0 0 0 3 26 Horizontal Vertical Error 3 27 Test Mode 2 Messages usa nayamun vee PERDE TS 3 28 Test Mode 3 Message 3 29 Detailed Description of Test Mode 2 Message 3 29 Detailed Description of Test Mode 3 Message 3 30 Test Mode 4 3 31 Detailed Description of Test Mode 4 Message 3 31 Measurement Data ui sears sede Spain gow le ted as fas 3 32 Syn Flag Fields e oeste e tuk eheu uti 3 33 Detailed Description of the Measurement Data
13. 2 It is bound from 10 180 s 3 Ifa duty cycle of 0 is entered it will be rejected as out of range Ifa duty cycle value of 20 is entered the APM module will be disabled and continuous power operation will resume Table 2 5 Horizontal Vertical Error Value Position Error 0x00 lt 1 meter 0x01 lt 5 meter 0x02 lt 10 meter 0x03 lt 20 meter 0x04 lt 40 meter 0x05 lt 80 meter 0x06 lt 160 meter 0x07 No Maximum 0x08 0xFF Reserved SiRF Binary Protocol Reference Manual September 2004 II Initialize Data Source Message ID 128 Input Messages Table 2 6 contains the input values for the following example Command a Warm Start with the following initialization data ECEF XYZ 2686727 m 4304282 m 3851642 m Clock Offset 75 000 Hz Time of Week 86 400 sec Week Number 924 and Channels 12 Raw track data enabled Debug data enabled Example A0A20019 Start Sequence and Payload Length 80FFD700F9FFBE5266003AC57A000124F80083D600039C0C33 Payload 0A91B0B3 Message Checksum and End Sequence Table 2 6 Initialize data source Binary Hex Name Bytes Scale Example Units Description Message ID 1 80 Decimal 128 ECEF X 4 FFD700F meters ECEF Y 4 FFBE5266 meters ECEF Z 4 003AC57A meters Clock Offset 4 000124F8 Hz Time of Week 4 100 00830600 seconds Week Number 2 039C Channels 1 0
14. 4 Middle 5 MSB 9 Middle 0012 LSB 4 LSB 5 LSB 9 LSB 13 MSB 5 MSB 1 6 MSB 10 MSB 0013 LSB 5 Middle 1 6 LSB 10 Middle 0014 MSB 5 LSB HI MSB 10 LSB 00141 LSB 6 MSB HI MSB 6 Middle 1 8 MSB 6 LSB 018 MSB Note Message ID 149 uses the same format except the SV ID the second byte in Message ID 15 is omitted Message ID 149 is thus a 91 byte message The SV ID is still embedded in elements 0 0 1 0 and 2 0 of the data array Test Mode 1 Message ID 16 Output Rate Variable set by the period as specified in message ID 150 Example A0A20011 Start Sequence and Payload Length 100015001E000588B800C81B5800040001 Payload 02D8BO0B3 Message Checksum and End Sequence Table 3 51 Test Mode 1 Data Binary Hex ASCII Decimal Name Bytes Scale Example Units Scale Example Message ID 1 10 16 SV ID 2 0015 21 Period 2 001E sec 30 Bit Sync Time 2 0005 sec Bit Count 2 88B8 35000 Poor Status 2 00C8 200 Good Status 2 1B58 7000 Parity Error Count 2 0004 4 Lost VCO Count 2 0001 1 Payload length 17 bytes 3 24 SiRF Binary Protocol Reference Manual September 2004 Qo II Table 3 52 Detailed Description of Test Mode 1 Data Name Description Message ID Message I D number SV ID The number of the satellite being tracked Period The total duration of time in seconds that
15. Description Message ID 1 8C Decimal 140 Tracking Mask 1 IC dBHz Not implemented Navigation Mask 1 21 dBHz Range 20 to 50 Payload length 3 bytes Note Satellite with received signal strength below the specified navigation mask signal level will not used in the navigation solution Editing Residual Message ID 141 This message has not been implemented Steady State Detection Message ID 142 This message has not been implemented 2 Static Navigation Message ID 143 This command allows the user to enable or disable static navigation to the receiver Example A0A20002 Start Sequence and Payload Length 8F01 Payload 0090B0B3 Message Checksum and End Sequence Table 2 28 Static Navigation Binary Hex Name Bytes Scale Example Units Description Message ID 1 8F Decimal 143 Static Navigation Flag 1 01 1 enable 0 disable Payload length 2 bytes Note Static navigation is a postion filter designed to be used with motor vehicles When the vehicle s velocity falls below a threshold the position and heading are frozen and velocity is set to zero This condition will continue until the computed velocity rises above 1 2 times the threshold or until the computed position is at least a set distance from the frozen place The threshold velocity and set distance may vary with software versions Poll Clock Status Message ID 144 Tab
16. Internal Beacon Frequency 4 0004BAFO Hz 310000 See Table 2 17 Internal Beacon Bit Rate 1 C8 BPS 200 See Table 2 17 Payload length 7 bytes Table 2 16 DGPS Source Selections DGPS Source Hex Decimal Description None 00 0 DGPS corrections are not used even if available SBAS 01 1 Uses SBAS Satellite subject to availability External RTCM Data 02 2 External RTCM input source 1 e Coast Guard Beacon Internal DGPS Beacon Receiver 03 3 Internal DGPS beacon receiver User Software 04 4 Corrections provided using a module interface routine in a custom user application Table 2 17 Internal Beacon Search Settings Search Type Frequency Bit Rate Description Auto Scan 0 0 Auto scanning of all frequencies and bit rates are performed Full Frequency scan 0 Non zero Auto scanning of all frequencies and specified bit rate are performed Full Bit Rate Scan Non zero 0 Auto scanning of all bit rates and specified frequency are performed Specific Search Non zero Non zero Only the specified frequency and bit rate search are performed 1 Frequency Range is 283500 to 325000 Hz 2 Bit Rate selection is 25 50 100 and 200 BPS Set Main Serial Port Message ID 134 Table 2 18 contains the input values for the following example Set Main Serial port to 9600 n 8 1 Example A0A20009 Start Sequence and Payload Length 860000258008010000 Payload 0134B0B3 Mes
17. Response to polling message Example A0A20015 Start Sequence and Payload Length 06322E332E322D475358322D322E30352E3032342D4331464C4558312E3200000 00000000000000000000000000000000000000000000000000000000000000000000 00000000000000000000000000000 Payload 0631B0B3 Message Checksum and End Sequence Table 3 9 Software Version String Binary Hex ASCII Decimal Name Bytes Scale Example Units Scale Example Message ID 1 06 Character 80 Payload Length 81 bytes 1 Repeat the payload sequence above minus the starting 0x06 byte 2 2 3 2 GSW2 2 05 024 C1FLEX1 2 Note Convert ASCII to symbol to assemble message 1 0x4E is N This is a low priority task and is not necessarily outputted at constant intervals Effective with version GSW 2 3 2 message length was increased from 21 to 81 bytes to allow for up to 80 character version string Response Clock Status Data Message ID 7 Output Rate 1 Hz or response to polling message Example A0A20014 Start Sequence and Payload Length 0703BD02154924080001223 100004728 14D4DAEF Payload 0598B0B3 Message Checksum and End Sequence 3 8 SiRF Binary Protocol Reference Manual September 2004 Qo II Table 3 10 Clock Status Data Message Binary Hex ASCII Decimal Name Bytes Scale Example Units Scale Example Message ID 1 07 7 Extended GPS Week 2 03BD 957
18. Sub ID 7 DR sensors parameters response to poll Name Bytes Scale Units Description MID 1 0x30 Sub ID 1 0 07 Base speed scale factor 1 ticks m Base gyro bias 2 104 Base gyro scale factor 2 10 mV deg s Payload length 7 bytes Output Messages 3 47 3 DR Data Block Message ID 48 Sub ID 8 1 Hz DR data block output on every navigation cycle Name Bytes Scale Units Description MID 1 0x30 Sub ID 1 0 08 Measurement type 1 0 odometer and gyroscope always 1 255 Reserved Valid count 1 Count 1 10 of valid DR measurements Reverse indicator 1 Bits 0 9 each bit ON reverse OFF forward Ist 100 ms time tag 1 ms 1st 100 ms DR speed 1 10 m s 1st 100 ms gyro heading rate 1 102 deg s 2 100 ms time tag 1 ms 2 100 ms DR speed 1 102 m s 2 100 ms gyro heading rate 1 10 deg s 10 100 ms time tag 1 ms 10 100 ms DR speed 1 102 m s pem 10 100 ms gyro heading rate 102 deg s Payload length 86 bytes SBAS Parameters Message ID 50 Outputs SBAS operating parameter information including SBAS PRN mode timeout timeout source and SBAS health status Output Rate Every measurement cycle full power continuous 1Hz Example A0A2000D Start Sequence and Payload Length 327A001200000000000000000000 Payload BE
19. and parity 87 135 Switch Protocol Obsolete 88 136 Mode Control Navigation mode configuration 89 137 DOP Mask Control DOP mask selection and parameters 8A 138 DGPS Mode DGPS mode selection and timeout value 8B 139 Elevation Mask Elevation tracking and navigation masks 8C 140 Power Mask Power tracking and navigation masks 8D 141 Editing Residual Not implemented 8E 142 Steady State Detection Not Not implemented Used 8F 143 Static Navigation Configuration for static operation 90 144 Poll Clock Status Polls the clock status 91 145 Set DGPS Serial Port DGPS port baud rate data bits stop bits and parity 92 146 Poll Almanac Polls for almanac data 93 147 Poll Ephemeris Polls for ephemeris data 94 148 Flash Update On the fly software update 95 149 Set Ephemeris upload Sends an existing ephemeris to the receiver 96 150 Switch Operating Mode Test mode selection SV ID and period 97 151 Set TricklePower Parameters Push to fix mode duty cycle and on time 2 1 2 2 Table 2 1 SiRF Messages Input Message List Continued Hex Decimal Name Description 98 152 Poll Navigation Parameters Polls for the current navigation parameters A5 165 Set UART Configuration Protocol selection baud rate data bits stop bits and parity A6 166 Set Message Rate SiRF Binary message output rate A7 167 Set Low Power Acquisition Low power configuration parameters Parameters 8 168 Poll Command Parame
20. or from the use of integrated circuits based on this document including but not limited to claims or damages based on infringement of patents copyrights or other intellectual property rights SiRF makes no warranties either express or implied with respect to the information and specifications contained in this document Performance characteristics listed in this data sheet do not constitute a warranty or guarantee of product performance All terms and conditions of sale are governed by the SiRF Terms and Conditions of Sale a copy of which you may obtain from your authorized SiRF sales representative Getting Help If you have any problems contact your SiRF representative or call or send an e mail to the SiRF Technology support group phone 1 408 467 0410 e mail support sirf com iii Contents lut P 1 1 Protocol Layers ces e vx Y NIA ERE T 1 1 Transp rt Message nus ses pope RUPES OR eU ERE E e ve a gs 1 1 Transport RR CE AT E p ES 1 1 Message Validation 1 1 Payload Length q p a aa cece teenies 1 2 Paylodd D ata c cen eee ad Oe 1 2 Che k ume ccc bias 1 2 2 Input Messages susyyy cc ccc ccc eee cece ee cece hh n nnn 2 1 Advanced Power Management Message ID 53 2 3 Initialize Data Source Message ID 128 2 5 Switch To NMEA Protocol Mess
21. 2 bytes Command NAcknowledgment Message ID 12 Output Rate Response to rejected input message This is an unsuccessful almanac request message ID 0x92 example A0A20002 Start Sequence and Payload Length 0C92 Payload 009EBOB3 Message Checksum and End Sequence Table 3 45 Command N Acknowledgment Binary Hex ASCII Decimal Name Bytes Scale Example Units Scale Example Message ID 1 0x0C 12 N Ack ID 1 0x92 146 Payload length 2 bytes Note Commands can be Nack d for several reasons including failed checksum invalid arguments unknown command or failure to execute command Visible List Message ID 13 Output Rate Updated approximately every 2 minutes Note This is a variable length message Only the number of visible satellites are reported as defined by Visible SVs in Table 3 46 Example A0A2002A Start Sequence and Payload Length Output Messages 3 21 II Qo 0D081D002A00320F009C0032 Payload B0B3 Message Checksum and End Sequence Table 3 46 Visible List Binary Hex ASCII Decimal Name Bytes Scale Example Units Scale Example Message ID 1 0D 13 Visible SVs 1 08 8 Ch 1 SV ID 1 10 16 Ch 1 SV Azimuth 2 002A degrees 42 Ch 1 SV Elevation 2 0032 degrees 50 Ch2 SV ID 1 OF 15 Ch 2 SV Azimuth 2 009C degrees 156 Ch 2 SV Elevation 2 0032 de
22. 896 00 Reserved Payload length 897 bytes The almanac data is stored in the code as a 448 element array of INT16 values These elements are partitioned as a 32 x 14 two dimensional array where the row represents the satellite ID minus 1 and the column represents the number of INT16 values associated with this satellite The data is actually packed and the exact format of this representation and packing method can be extracted from the ICD GPS 200 document The ICD GPS 200 document describes the data format of each GPS navigation sub frame and is available on the web at http www arinc com gps Input Messages 2 7 Handle Formatted Dump Data Message ID 131 2 8 This command causes data to bbe output in a formatted manner It is designed to handle complex data type up to an array of structures Table 2 11 contains the input values for the example below This example shows how to output an array of elements where each elelemt is a structure that looks like this Typedef structure structure size 9 bytes UINTS Element 1 UINT16 Element 2 UINT8 Element 3 UINTS Element 4 UINT32 Element 5 tmy_struct tmy_struc my_struct 3 Example A0A2002F Start Sequence and Payload Length 8331E5151B81A Payload 1F19B0B3 Message Checksum and End Sequence Table 2 11 Set Send Command String Parameters Binary Hex Name Bytes Example
23. Bit 0 use initial data provided in this message for start up Bit 1 clear ephemeris in memory Bit 2 clear all memory Bit 3 perform Factory Reset Bit 4 enable SiRF Binary output messages for raw track data navigation library 50 bps info RTCM data clock status and DR status Bit 5 enable debug output messages Bit 6 Reserved Bit 7 Reserved Payload length 28 bytes 1 Bits 0 3 determine the reset mode 0000 Hot 0010 Warm 001 1 Warm with user input 0100 Cold 1000 Factory Set GPS DR Navigation Mode Message ID 172 Sub ID 2 Set the GPS DR navigation mode control parameters Name Bytes Description MID 1 AC Sub ID 1 0x02 Mode 1 Bit 0 GPS only navigation Bit 1 DR nav acceptable with stored default calibration Bit 2 DR nav acceptable with current GPS calibration Bit 3 DR only navigation Reserved 1 2 26 SiRF Binary Protocol Reference Manual September 2004 Set DR Gyro Factory Calibration Message ID 172 Sub ID 3 Set DR gyro s factory calibration parameters Name Bytes Scale Units Description MID 1 0 Sub ID 1 0 03 Calibration 1 Bit 0 Start gyro bias calibration Bits 2 7 Reserved Bit 1 Start gyro scale factor calibration Reserved 1 Payload length 4 bytes Set DR Sensors Parameters Message ID 172 Sub ID 4 Set DR sensors paramete
24. ID 45 3 41 Test Mode 3 4 Message ID46 3 41 DR Navigation Status Message ID 48 Sub ID 1 3 43 DR Navigation State Message ID 48 Sub ID 2 3 46 Navigation Subsystem Message ID 48 Sub ID 3 3 46 DR Gyro Factory Calibration Message ID 48 Sub ID 6 3 47 DR Sensors Parameters Message ID 48 SubID7 3 47 DR Data Block Message ID 48 Sub ID 8 3 48 SBAS Parameters Message ID 50 3 48 PPS Time Message ID 52 3 49 Reserved Message ID 225 3 50 Development Data Message ID 255 3 50 4 Additional Information 4 1 TricklePower Operation in DGPS Mode 4 1 GPS Week Reporting 4 1 SiRF Binary Protocol Reference Manual September 2004 Tables Table 2 1 SiRF Messages Input Message List 2 1 Table 2 3 Supported Input 2 2 Table 2 2 Sub IDs for SiRFDRive input MID 172 OxAC 2 2 Table 2 4 Advanced Power Management Parameters 2 4 Table 2 5 Horizontal Vertical Error 2 4 Table 2 6 2 5 Table 2 7 Reset Configuration Bit
25. January 6 1980 Per ICD GPS 200 the satellites only transmit the 10 LSBs of th week number On August 22 1999 the week number became 1024 which was reported by the satellites as week 0 SiRF receivers resolve the reported week number internally When messages report the week number that value will either be truncated to the 10 LSBs or will be called an extended week number see messages 7 and 41 for examples 4 1 4 2 SiRF Binary Protocol Reference Manual September 2004 ADDITIONAL AVAILABLE PRODUCT INFORMATION Part Number Description 1050 0042 NMEA Reference Manual 1050 0041 SiRF Binary Protocol Reference Manual 1065 0136 Product Inserts 1050 0056 SiRFstarlll System Development Kit User Guide 1050 0053 GSW3 Software System Development Kit Reference Manual 1050 0054 S3SDK Board System Development Kit Reference Manual 1050 0055 GSP3 Chip System Development Kit Reference Manual 1055 1034 GSP3f Data Sheet 1055 1035 GRF3w Data Sheet Available on the Developer Web Site APNT3001 SSIII System Guidelines and Considerations APNT3002 PCB Design Guidelines for SSIII Implementations APNT3003 Back Up Power Operation for SSIII Architectures APNT3004 Troubleshooting Notes for SSIII Board Development APNT3005 Co Location and Jamming Considerations for SSIII Integration APNT3006 GPIO Pin Functionality for SSIII APNT3007 Message Definitions for SSIII APNT3008 Imple
26. Mode 1 00 0 Testing 1 Integrity Integrity mode will reject SBAS corrections if the SBAS satellite is transmitting in a test mode Testing mode will accept use SBAS corrections even if satellite is transmitting in a test mode Flag Bits 1 01 Bit 0 Timeout 0 Default 1 User Bit 1 Health Reserved Bit 2 Correction Reserved Bit 3 SBAS PRN 0 Default 1 User Spare 2 0000 Payload length 6 bytes 1 If Bit 0 1 user specified timeout from message ID 138 is used If Bit 0 0 timeout specified by the SBAS satellite will be used this is usually 18 seconds If Bit 3 1 the SBAS PRN specified in the SBAS PRN field will be used If Bit 3 0 the system will search for any SBAS PRN Input Messages 2 25 2 Initialise GPS DR Navigation Message ID 172 Sub ID 1 Set the navigation initialisation parameters and command a software reset based on those parameters Name Bytes Scale Units Description MID 1 0 Sub ID 1 0 01 Latitude 4 deg for Warm Start with user input Longitude 4 deg for Warm Start with user input Altitude ellipsoid 4 m for Warm Start with user input True heading 2 deg for Warm Start with user input Clock drift 4 Hz for Warm Start with user input GPS time of week 4 100 sec for Warm Start with user input GPS week number 2 for Warm Start with user input Channel count 1 for Warm Start with user input Reset configuration bits 1
27. Name Bytes Scale Example Units Description Message ID 1 A6 decimal 166 Send Now 1 00 Poll message 0 No 1 Yes MID to be set 1 02 Update Rate 1 05 sec Range 0 30 Reserved 1 00 Not used set to zero Reserved 1 00 No used set to zero Reserved 1 00 Not used set to zero Reserved 1 00 Not used set to zero Payload Length 8 bytes 1 0 No set update rate 1 Yes poll message now and ignore update rate 2 A value of 0 means to stop sending the message A value in the range of 30 specifies the cycle period Set Low Power Acquisition Parameters Message ID 167 Table 2 42 contains the input values for the following example Set maximum time for sleep mode and maximum satellite search time to default values Also set Push to Fix cycle time to 60 seconds and disable Adaptive TricklePower Example A0A2000F Start Sequence and Payload Length A7000075300001D4C00000003C0000 Payload 031 DBOB3 Message Checksum and End Sequence Table 2 42 Set Low Power Acquisition Parameters Binary Hex Name Bytes Scale Example Units Description Message ID 1 A7 decimal 167 Max Off Time 4 00007530 msec Maximum time for sleep mode Default value 30 seconds Max Search Time 4 0001D4C0 msec Max satellite search time Default value 120 seconds Push to Fix Period 4 0000003C sec Push to Fix cycle period Adaptive TricklePower 2 0001 To enable Adaptive TricklePower 0 off 1 on Pa
28. Selection pun faa Si VES HOS 2 14 Power Mask ics couse et ua Sinn dite aged Seta a 2 15 Elevation Mask Aids et ola ttle es 2 15 Static Navigation u isu ua esa ee Sheed Gd RE 2 16 Clock Status 222 lmEBRLXTARRICARIDRASGIOHRULDLDAE RC HUS 2 16 Set DGPS Serial Port euin tanne PIDE 2 17 AMMAN AGS ie dox ale bak oa Sag ease be Babson belt eis 2 17 jo ena td edi de e ode teet 2 18 Flash Updates su errorae aet a REN REG 2 18 Ephemetis t od ia eis e ayasa IER Y ELE ES 2 19 Switch Operating Modes 2 19 Set Trickle Power Parameters 2 20 Example of Selections for TricklePower Mode of Operation 2 20 Duty Cycles for Supported TricklePower Settings 2 21 Set UART 2 22 Poll Receiver for Navigation 2 22 Set Low Power Acquisition 2 24 Set Message Rate see aaa ERREUR la 2 24 Poll Command 2 25 Set SBAS Parameters saa eee i 2 25 SiRF Binary Messages Output Message List 3 1 Supported output messages 3 2 Sub IDs for SiRFDRive output MID 48 0 30 3 2 Measured Navigation Data Out Message Data Format 3 3 SiRF Binary Protocol Reference Manual S
29. accumulation is the amount of time a receiver maintains phase lock Every 100msec of loss of phase lock equates to 1 poor status count As an example the total number of status counts for a 60 second period is 7200 12 channels x 60 sec x 10 sec Good Status This value is derived from phase accumulation time Phase accumulation is the amount of time a receiver maintains phase lock Every 100msec of phase lock equates to 1 good status count Parity Error Count The number of word parity errors This occurs when the transmitted parity word does not match the receivers parity check Lost VCO Count The number of 1 msec VCO lost lock was detected This occurs when the PLL in the RFIC loses lock A significant jump in crystal frequency and or phase will cause a VCO lost lock Frame Sync The time it takes for channel 0 to reach a 3F status C No Mean Calculated average of reported C No by all 12 channels during the test period C No Sigma Calculated sigma of reported C No by all 12 channels during the test period Clock Drift Change Difference in clock frequency from start and end of the test period Clock Drift Rate of change in clock bias This is supported by SiRFLoc and SiRFXTrac only as MID 20 Test Mode 3 requires approximately 10 seconds of data collection before sufficient data is available Example A0A20033 Start Sequence and Payload Length 14000100 1E00023F70001F0D290000000
30. bytes SiRF Binary Protocol Reference Manual September 2004 Table 3 21 Error ID 11 Message Description Name Description Message ID Message ID number Error ID Error ID see Error ID description above Count Number of 32 bit data in message Doppler Frequency Doppler Frequency Error ID 12 Code Define Name Error ID Description Example Errld RXM ValidDurationExceeded Satellite s ephemeris age has exceeded 2 hours 7200 s A0A2000D Start Sequence and Payload Length 0A000C0002xxxxxxxxaaaaaaaa Payload xxxxB0B3 Message Checksum and End Sequence Table 3 22 Error ID 12 Message Binary Hex ASCII Decimal Name Bytes Scale Example Units Scale Example Message ID 1 0 10 Error ID 2 000C 12 Count 2 0002 2 Satellite ID 4 XXXXXXXX XXXXXXXX Age Of Ephemeris 4 aaaaaaaa seconds aaaaaaaa Payload Length 13 bytes Table 3 23 Error ID 12 Message Description Name Description Message ID Message ID number Error ID Error ID see Error ID description above Count Number of 32 bit data in message Satellite ID Satellite Pseudo random Noise PRN number Age of Ephemeris The Satellite s Ephemeris Age in seconds Error ID 13 Code Define Name Errld STRTP BadPostion Error ID Description SRAM position is bad during a cold start Example A0A20011 Start Sequence and Paylo
31. data in message VCOLost VCO lock lost indicator If VCOLost 0 then send failure message SiRF Binary Protocol Reference Manual September 2004 Qo II Error ID 4099 0x1003 Code Define Name Error ID Description NavForceReset routine Example A0A20009 Start Sequence and Payload Length 0A1003000100000001 Payload 001FBOB3 Message Checksum and End Sequence Table 3 28 Error ID 4099 Message ErrId MI FalseAcqReceiverReset Nav detect false acquisition reset receiver by calling Output Messages Binary Hex ASCII Decimal Name Bytes Scale Example Units Scale Example Message ID 1 0 10 Error ID 2 1003 4099 Count 2 0001 1 InTrkCount 4 00000001 1 Payload Length 9 bytes Table 3 29 Error ID 4099 Message Description Name Description Message ID Message ID number Error ID Error ID see Error ID description above Count Number of 32 bit data in message InTrkCount False acquisition indicator If InTrkCount lt 1 then send failure message and reset receiver Error ID 4104 0x 1006 Code Define Name Errid STRTP SRAMCksum Error ID Description Failed SRAM checksum during startup Four field message indicates receiver control flags had checksum failures Three field message indicates clock offset s checksum failure or clock offset value is out of range Two field message indicates position and tim
32. position Bit 6 ON invalid GPS velocity for DR Bit 7 ON DR speed scale factor lt 1 DR Nav across reset amp DR position Bits 0 1 00 valid DR nav across reset else Bit 0 ON invalid DR navigation Bit 1 ON speed gt 0 01 m s Bit 2 Reserved Bits 3 6 0000 valid DR position else Bit 3 ON speed not zero at start up Bit 4 ON invalid GPS position Bit 5 ON system in Cold Start Bit 6 ON invalid DR data Bit 7 Reserved DR heading Bits 0 6 0000000 valid DR heading else Bit 0 ON speed not zero at start up Bit 1 ON invalid GPS position Bit 2 ON invalid GPS speed Bit 3 ON GPS did not update heading Bit 4 ON delta GPS time lt 0 and gt 2 Bit 5 ON system in Cold Start Bit 6 ON invalid DR data Bit 7 Reserved DR gyro subsystem amp DR speed subsystem Bits 0 3 0000 updated DR gyro bias amp scale factor calibration else Bit 0 ON invalid DR data Bit 1 ON invalid DR position Bit 2 ON invalid GPS velocity for DR Bit 3 ON GPS did not update heading Bits 4 6 000 updated DR speed calibration else Bit 4 ON invalid DR data Bit 5 ON invalid DR position Bit 6 ON invalid GPS velocity for DR Bit 7 0 updated DR navigation state DR Nav state integration ran amp zero speed gyro bias calibration updated Bits 0 7 00000000 GPS updated position else Bit 0 ON update mode KF Bit 1 ON E
33. priority and no preference for accuracy A0A2000C Start Sequence and Payload Length 3501001400030700000A0100 Payload 005FBOB3 Message Checksum and End Sequence Input Messages 2 3 2 4 Table 2 4 Advanced Power Management Parameters Binary Hex Name Bytes Scale Example Units Description Message ID 1 35 decimal 53 APM Enabled 1 01 1 True 0 False Number Fixes 1 00 Number of requested APM cycles Range 0 255 Time Between 1 1 14 Sec Requested time between fixes Range 0 Fixes 2552 Spare Byte 1 1 00 Reserved Maximum 1 03 Maximum requested horizontal error See Horizontal Error Maximum 1 07 Maximum requested vertical error See Vertical Error Maximum 1 1 00 Sec Maximum response time Response Time Not currently used Time Acc Priority 1 00 0x00 No priority 0x01 Response Time Max has higher priority 0x02 Horizontal Error Max has higher priority Not currently used Power Duty Cycle 1 gt 0A Power Duty Cycle defined as the time in full power to total operation time 1 gt 20 duty cycle is this value 5 3 Time Duty Cycle 1 01 Time Power Duty cycle priority 0x01 Time between two consecutive fixes has priority 0x02 Power Duty cycle has higher priority Bits 2 7 reserved for expansion Spare Byte 2 1 00 Reserved Payload length 12 bytes 1 A value of zero indicates that continuous APM cycles is requested
34. 0000601C60005 1 BOEOO0EB41A0000000000000 0000000000000000000000000000000 Payload 0316B0B3 Message Checksum and End Sequence Table 3 59 Test Mode 3 Message Binary Hex ASCII Decimal Name Bytes Scale Example Units Scale Example Message ID 1 14 20 SV ID 2 0001 1 Period 2 001E sec 30 Bit Sync Time 2 0002 sec 2 Bit Count 2 3F70 13680 3 29 3 30 Table 3 59 Test Mode 3 Message Continued Binary Hex ASCII Decimal Name Bytes Scale Example Units Scale Example Poor Status 2 001F 31 Good Status 2 0D29 3369 Parity Error Count 2 0000 0 Lost VCO Count 2 0000 0 Frame Sync Time 2 0006 sec 6 C No Mean 2 10 01C6 10 45 4 C No Sigma 2 10 0005 10 0 5 Clock Drift Change 2 10 1BOE Hz 10 692 6 Clock Drift 4 10 000EB41A Hz 10 96361 0 Bad 1Khz Bit Count 2 0000 Abs I20ms 4 00000000 Abs QIms 4 00000000 Reserved 4 00000000 Reserved 4 00000000 Reserved 4 00000000 Payload length 51 bytes Table 3 60 Detailed Description of Test Mode 3 Message Name Description Message ID Message I D number SV ID The number of the satellite being tracked Period The total duration of time in seconds that the satellite is tracked Bit Sync Time The time it takes for channel 0 to achieve the status of 37 Bit Count The total number of data bits that the receiver is able to demodul
35. 01 00 00 00 00 04 00 4B 1C 00 00 00 00 02 00 1E 00 00 00 00 00 00 00 03 E8 00 00 03 E8 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 Payload 02 A4 BO B3 Message Checksum and End Sequence Table 3 55 Navigation Parameters Binary Hex ASCII Decimal Name Bytes Scale Example Units Scale Example Message ID 1 13 19 Sub ID 1 00 Reserved 3 00 Altitude Hold Mode l 00 Altitude Hold Source2 1 00 Altitude Source Input 2 0000 m Degraded Mode 1 00 Degraded Timeout 1 00 sec DR Timeout 1 01 sec Track Smooth Mode 1 1E Static Navigation 1 OF 3SV Least Squares 1 01 Reserved 4 00000000 DOP Mask Mode 1 04 Navigation Elevation Mask 2 004B Navigation Power Mask 1 IC Reserved 4 00000000 DGPS Source 1 02 DGPS Mode 1 00 SiRF Binary Protocol Reference Manual September 2004 Qo II Output Messages Table 3 55 Navigation Parameters Continued Binary Hex ASCII Decimal Name Bytes Scale Example Units Scale Example DGPS Timeout 1 1E sec Reserved 4 00000000 LP Push to Fix10 1 00 LP On time 4 000003E8 LP Interval 4 000003E8 User Tasks Enabled 1 00 User Task Interval 4 00000000 LP Power Cycling Enabled 1 00 LP Max Acq Search Time 4 00000000 sec LP Max Off Time 4 00000000 sec APM Enabled Power Duty Cy
36. 04 E8 1D 97 A7 62 07 D4 02 06 11 36 61 DA 1A 80 01 58 16 47 03 DF B7 55 48 8F FF FF FA C8 00 00 04 C6 15 00 00 00 00 00 00 00 00 00 00 00 00 00 BB 00 00 01 38 00 00 00 00 00 00 6B 0A F8 61 00 00 00 00 00 13 14 00 00 00 00 00 00 00 00 00 00 00 00 08 05 00 Payload 11 03 BO B3 Message Checksum and End Sequence Table 3 69 Geodetic Navigation Data Name Bytes Description Message ID 1 Hex 0x29 decimal 41 Nav Valid 2 0x0000 valid navigation else Bit 0 ON invalid GPS position lt 5 SVs Bits 1 2 Reserved Bits 8 14 Reserved The following are for SiRFDRive only Bit 3 ON invalid DR data Bit 4 ON invalid DR calibration Bit 5 ON GPS based calibration unavailable Bit 6 ON invalid DR position fix Bit 7 ON invalid DR heading The following is for SIRFNav only Bit 15 ON no tracker data available SiRF Binary Protocol Reference Manual September 2004 Qo II Output Messages Table 3 69 Geodetic Navigation Data Continued Name Bytes Description NAV Type 2 Bits 0 2 GPS position fix type 000 no navigation 001 1 SV KF solution 010 2 SV KF solution 011 3 SV KF solution 101 2 D least squares solution 110 3 D least squares solution 111 DR solution no SV Bit 3 Reserved Bits 4 5 altitude hold status 00 no altitude hold applied 01 holding of altitude from KF 10 holding of altitude from user input 11 always hold al
37. 1 Reserved 4 Reserved 4 Payload length 26 bytes 1 0 Use no corrections 1 SBAS channel 2 External source 3 Internal Beacon 4 Set Corrections via software Note The fields Pseudorange Correction Pseudorange Rate Correction and Correction Age are floating point values per IEEE 754 To properly interpret these in a PC the bytes need to be rearranged into reverse order Navigation Library SV State Data Message ID 30 The data in Message ID 30 reports the computed satellite position and velocity at the specified GPS time Output Rate Every measurement cycle full power continuous 1Hz Example A0A20053 Start Sequence and Payload Length 1E15 2C64E99D01 408906C8 Payload Output Messages 3 35 II Qo 2360B0B3 Message Checksum and End Sequence Table 3 67 SV State Data Binary Hex ASCII Decimal Name Bytes Scale Example Units Scale Example Message ID 1 1E 30 Satellite ID 1 15 21 GPS Time 8 sec Position X 8 m Position Y 8 m Position Z 8 m Velocity X 8 m sec Velocity Y 8 m sec Velocity Z 8 m sec Clock Bias 8 sec Clock Drift 4 2C64E99D s s 744810909 Ephemeris Flag 1 01 1 Reserved 4 Reserved 4 Ionospheric Delay 4 408906C8 m 1082721992 Payload length 83 bytes 1 0 no valid SV state 1 SV state calculated from ephemeris 2 Satellite state calculated from almanac Note Eac
38. 1 to 50 PDOP Value 1 08 Range 1 to 50 HDOP Value 1 08 Range 1 to 50 Payload length 5 bytes Table 2 23 DOP Selection Byte Value Description 0 Auto PDOP for 3 D fix HDOP for 2 D fix 1 PDOP 2 HDOP 3 GDOP 4 Do Not Use 2 13 2 DGPS Control Message ID 138 Table 2 24 contains the input values for the following example Set DGPS to exclusive with a time out of 30 seconds Example A0A20003 Start Sequence and Payload Length 8A011E Payload 00A9B0B3 Message Checksum and End Sequence Table 2 24 DGPS Control Binary Hex Name Bytes Scale Example Units Description Message ID 1 8A Decimal 138 DGPS Selection 1 01 See Table 2 25 DGPS Time Out 1 1E seconds Range 0 to 255 Payload length 3 bytes Table 2 25 DGPS Selection Byte Value Description 0 Auto use corrections when available 1 Exclusive include into navigation solution only SVs with corrections 2 Never Use ignore corrections Note DGPS Timeout interpretation varies with DGPS correction source For internal beacon receiver or RTCM SC 104 external source a value of 0 means infinite timeout use corrections until another one is available A value of 1 255 means use the corrections for a maximum of this many seconds For DGPS corrections from an SBAS source the timeout value is ignored unless Message ID 170 Flag bit 0 is set to 1 User Timeout If MID 170 specifies
39. 14 Error ID 2 Message Binary Hex ASCII Decimal Name Bytes Scale Example Units Scale Example Message ID 1 0A 10 Error ID 2 0002 2 Count 2 0002 2 Satellite ID 4 00000001 1 Subframe No 4 00000002 2 Payload Length 13 bytes Table 3 15 Error ID 2 Message Description Name Description Message ID Message ID number Error ID Error ID see Error ID description above Count Number of 32 bit data in message Satellite ID Satellite Pseudo random Noise PRN number Subframe No The associated subframe number that failed the parity check Valid subframe number is 1 through 5 Error ID 9 Code Define Name Errld GettingPosition Error ID Description Failed to obtain a position for acquired satellite ID Example A0A20009 Start Sequence and Payload Length 0A0009000100000001 Payload 0015B0B3 Message Checksum and End Sequence Table 3 16 Error ID 9 Message Binary Hex ASCII Decimal Name Bytes Scale Example Units Scale Example Message ID 1 0 10 Error ID 2 0009 9 Count 2 0002 2 Satellite ID 4 00000001 Payload Length 9 bytes Table 3 17 Error ID 9 Message Description Name Description Message ID Message ID number Error ID Error ID see Error ID description above Count Number of 32 bit data in message Satellite ID Satellite Pseudo random Noise PRN number
40. 283 6 018 704 6 037 900 6 041 280 6 044 105 6 047 017 6 081 228 6 114 992 6 125 325 6 198 765 6 236 937 6 249 542 6 278 403 6 282 231 6 292 749 6 297 771 6 301 545 6 304 216 6 351 486 6 351 711 6 366 250 6 389 291 6 393 046 6 400 753 6 421 609 6 427 120 6 427 121 6 453 238 and AU729 697 Other United States and foreign patents are issued or pending SIRF SiRFStar SiRF plus Orbit design are registered in the U S Patent and Trademark office SnapLock SnapStart SingleSat Foliage Lock TricklePower Push to Fix WinSiRF SiRFLoc SiRFDRive SiRFNav SiRFXTrac SiRFSoft SoftGPS UrbanGPS and Multimode Location Engine are trademarks of SIRF Technology Inc Other trademarks are property of their respective companies This document contains information on SiRF products SiRF reserves the right to make changes in its products specifications and other information at any time without notice SIRF assumes no liability or responsibility for any claims or damages arising out of the use of this document or from the use of integrated circuits based on this data sheet including but not limited to claims or damages based on infringement of patents copyrights or other intellectual property rights No license either expressed or implied is granted to any intellectual property rights of SIRF SIRF makes no warranties either express or implied with respect to the information and specification contained in this document Performance charact
41. 3 33 Measurement 3 35 SV State Data Ju buy etuer Dum eee tie ae UAR s 3 36 Measurement Data es 3 36 SiRF Binary Protocol Reference Manual September 2004 Tables Table 3 69 Table 3 70 Table 3 71 Table 3 72 Table 3 74 Table 3 73 Table 3 76 Table 3 75 Geodetic Navigation Data 3 38 Test Mode 3 Message 3 41 Detailed Description of Test Mode 3 Message 3 42 SBAS Parameters Message 3 48 Timing Message Data lille 3 49 Detailed Description of SBAS Parameters 3 49 Development Data 20 anna aaa que a eh 3 50 Status Byte Field in Timing Message 3 50 xix XX SiRF Binary Protocol Reference Manual September 2004 Preface The SiRF Binary Protocol Reference Manual provides detailed information about the SiRF Binary protocol the standard protocol used by all SiRF architectures Who Should Use This Guide This manual was written assuming the user is familiar with interface protocols including their definitions and use How This Guide Is Organized Chapter 1 Protocol Layers information about SiRF Binary protocol layers Chapter 2 Input Messages definitions and examples of each available SiRF Binary input messages Chapter 3 Output Messages definitions and examples of each available SiRF Binary output messa
42. BEBOB3 Message Checksum and End Sequence Table 3 72 SBAS Parameters Message Binary Hex ASCII Decimal Name Bytes Scale Example Units Scale Example Message ID 1 32 50 SBAS PRN 1 7A 122 SBAS Mode 1 00 0 DGPS Timeout 1 12 18 Flag bits 1 00 0 3 48 SiRF Binary Protocol Reference Manual September 2004 Qo II Table 3 72 SBAS Parameters Message Continued Binary Hex ASCII Decimal Name Bytes Scale Example Units Scale Example Spare 8 0000000000000000 00000000 Payload length 13 bytes Table 3 73 Detailed Description of SBAS Parameters Name Description Message ID Message I D number SBAS PRN 0 Auto mode SBAS PRN 120 138 Exclusive SBAS Mode O Testing 1 Integrity Integrity mode will not accept SBAS corrections if the SBAS satellite is transmitting in a test mode Testing mode will accept and use SBAS corrections even if the SBAS satellite is transmitting in a test mode DGPS Timeout Range 1 250 seconds 0 returns to default timeout The last received corrections will continue to be applied to the navigation solution for the timeout period If the timeout period is exceeded before a new correction is received no corrections will be applied Flag bits Bit 0 Timeout 0 Default 1 User Bit 1 Health Reserved Bit 2 Correction Reserved Bit 3 SBAS PRN 0 Default 1 User Spare Spare PPS Tim
43. C C Un gt R Eu SiRF Binary Protocol Reference Manual SiRF Technology Inc 148 East Brokaw Road San Jose CA 95112 U S A Phone 1 408 467 0410 Fax 1 408 467 0420 www SiRF com 1050 0041 September 2004 Revision 1 3 SiRF SiRFstar SiRF plus orbit design are registered in the U S Patent and Trademark Office This document contains information on a product under development at SiRF The information is intended to help you evaluate this product SiRF reserves the right to change or discontinue work on this product without notice SiRF Binary Protocol Reference Manual Copyright 1996 2004 SiRF Technology Inc All rights reserved No part of this work may be reproduced or transmitted in any form or by any means electronic or mechanical including photocopying and recording or by any information storage or retrieval system without the prior written permission of SiRF Technology Inc unless such copying is expressly permitted by United States copyright law Address inquiries to Legal Department SiRF Technology Inc 148 East Brokaw Road San Jose California 95112 United States of America About This Document This document contains information on SiRF products SiRF Technology Inc reserves the right to make changes in its products specifications and other information at any time without notice SiRF assumes no liability or responsibility for any claims or damages arising out of the use of this document
44. C Range 1 12 Reset Configuration Bit Map 1 33 See Table 2 7 Payload length 25 bytes Table 2 7 Reset Configuration Bit Map Bit Description 0 Data valid flag 1 Use data in ECEF X Y Z Clock Offset Time of Week and Week number to initialize the receiver 0 Ignore data fields 1 Clear ephemeris from memory blocks Snap or Hot Start from occurring 2 Clear all history except clock drift from memory blocks Snap Hot and Warm Starts 3 Factory Reset clears all GPS memory including clock drift Also clears almanac stored in flash memory 4 Enable Nav Lib data YES 1 NO 0 5 Enable debug data YES 1 NO 0 6 Indicate that RTC is bad blocks Snap Start 7 Clear user data in memory 1 If Nav Lib data are enabled then the resulting messages are enabled Clock Status MID 7 SOBPS MID 8 Raw DGPS MID 17 NL Measurement Data MID 28 DGPS Data MID 29 SV State Data MID 30 and NL Initialized Data MID 31 All messages are sent at 1 Hz If SiRFdemo is used to enable Nav Lib data the baud rate will be automatically set to 57600 by SiRFdemo 2 5 2 Switch Protocol Message ID 129 Table 2 8 contains the input values for the following example Request the following NMEA data at 9600 baud GGA ON at 1 sec GLL OFF GSA ON at 1sec GSV ON at 5 sec RMC ON at 1sec VTG OFF MSS OFF ZDA OFF Example A0A20018 Start Se
45. C is valid If not this RTC time is invalid Example A0A2000D Start Sequence and Payload Length 0 10090002 Payload xxxxB0B3 Message Checksum and End Sequence Table 3 32 Error ID 4105 Message Binary Hex ASCII Decimal Name Bytes Scale Example Units Scale Example Message ID 1 0 10 Error ID 2 1009 4105 Count 2 0002 2 TOW 4 XXXXXXXX seconds XXXX Week Number 4 aaaaaaaa aaaa Payload length 13 bytes Table 3 33 Error ID 4105 Message Description Name Description Message ID Message ID number Error ID Error ID see Error ID description above Count Number of 32 bit data in message TOW GPS time of week in seconds Range 0 to 604800 seconds Week Number GPS week number Output Messages 3 17 3 18 Error ID 4106 0x100A Code Define Name Errld BackupFailed Velocity Error ID Description Failed battery backing position because of ECEF velocity sum was greater than equal to 3600 Example A0A20005 Start Sequence and Payload Length 0A100A0000 Payload 0024B0B3 Message Checksum and End Sequence Table 3 34 Error ID 4106 Message Binary Hex ASCII Decimal Name Bytes Scale Example Units Scale Example Message ID 1 0 10 Error ID 2 100A 4106 Count 2 0000 0 Payload length 5 bytes Table 3 35 Error ID 4106 Message Description
46. CntrlChkSum Battery Backed Receiver Control OpMode Battery backed receiver control checksum stored in SRAM Data Control OpMode Valid OpMode values are as follows OP MODE NORMAL 0 OP MODE TESTING 0 1 51 OP MODE TESTING2 0 1 52 OP MODE TESTING3 0x1E53 Battery Backed Receiver Control Channel Count Compute Clock Offset Checksum Battery backed receiver control channel count in SRAM Data Control ChannelCnt Valid channel count values are 0 12 Computed clock offset checksum of SRAM Data DataBuffer clkOffset Battery Backed Clock Offset Checksum Battery backed clock offset checksum of SRAM Data DataBuffer clkChkSum SiRF Binary Protocol Reference Manual September 2004 Qo II Table 3 31 Error ID 4104 Message Description Continued Name Description Battery Backed Clock X Battery backed clock offset value stored in Offset SRAM Data DataBuffer cIkOffset Computed Position Time Computed position time checksum of Checksum SRAM Data DataBuffer postime 1 Battery Backed Battery backed position time checksum of Position Time Checksum SRAM Data DataBuffer postimeChkSum 1 Error ID 4105 0x1009 Code Define Name Errld STRTP RTCTimelnvalid Error ID Description Failed RTC SRAM checksum during startup If one of the double buffered SRAM Data LastRTC elements is valid and RTC days is not 255 days then GPS time and week number computed from the RT
47. GPS TOW 4 100 102154924 sec 100 349494 12 SVs l 08 8 Clock Drift 4 00012231 Hz 74289 Clock Bias 4 00004728 ns 18216 Estimated GPS Time 4 14D4DAEF ms 349493999 Payload length 20 bytes 1 GPS week has been resolved to the full week number 1024 week ambiguity has been resolved 2 Number of satellites used in the solution for clock drift clock bias and estimated GPS time 50 BPS Data Message ID 8 Output Rate Approximately every 6 seconds for each channel Example A0A2002B Start Sequence and Payload Length 08001900C0342A9B688AB0113FDE2D714FA0A7FFFACC5540157EFFEEDFFF A80365A867FC67708BEB5860F4 Payload 15AABOB3 Message Checksum and End Sequence Table 3 11 50 BPS Data Binary Hex ASCII Decimal Name Bytes Scale Example Units Scale Example Message ID 1 08 8 Channel 1 00 SV ID 1 19 25 Word 10 40 Payload length 43 bytes per sub frame 5 subframes per page Note Data is logged in ICD GPS 200C format available from www navcen uscg mil The 10 words together comprise a complete subframe of navigation message data Within the word the 30 bits of the navigation message word are right justified complete with 24 data bits and 6 parity bits Any inversion of the data has been removed The 2 MSBs of the word contain parity bits 29 and 30 from the previous navigation message word Output Messages 3 9 3 CPU Throughput Message ID 9 O
48. HPE gt 50 Bit 2 ON no previous GPS KF update Bit 3 ON GPS EHPE DR EHPE Bit 4 ON DR EHPE 50 Bit 5 ON less than 4 SVs in GPS navigation Bit 6 ON no SVs in GPS navigation Bit 7 ON DR only navigation required 3 44 SiRF Binary Protocol Reference Manual September 2004 Output Messages Name Bytes Description Updated DR gyro bias scale factor calibration updated DR speed calibration amp updated DR Nav state Bits 0 3 0000 updated DR gyro bias amp scale factor calibration else Bit 0 ON invalid DR data Bit 1 ON invalid DR position Bit 2 ON invalid GPS velocity for DR Bit 3 ON GPS did not update heading Bits 4 6 000 updated DR speed calibration else Bit 4 ON invalid DR data Bit 5 ON invalid DR position Bit 6 ON invalid GPS velocity for DR Bit 7 0 updated DR navigation state GPS updated position m Bits 0 7 00000000 GPS updated position else Bit 0 ON update mode KF Bit 1 ON EHPE gt 50 Bit 2 ON no previous GPS KF update Bit 3 ON GPS EHPE DR EHPE Bit 4 ON DR EHPE 50 Bit 5 ON less than 4 SVs in GPS navigation Bit 6 ON no SVs in GPS navigation Bit 7 ON DR only navigation required GPS updated heading Bits 0 6 0000000 GPS updated heading else Bit 0 ON update mode KF Bit 1 ON GPS speed lt 5 m s Bit 2 ON less than 4 SVs in GPS navigation Bit 3 ON horizontal veloc
49. SB 6 MSB 4 MSB 10 MSB 10 LSB 6 Middle 5 LSB 10 Middle 11 MSB 6 LSB 5 MSB 10 LSB 11 LSB Note Message ID 130 uses a similar format but sends an array of 14 16 bit words for each SV and a total of 32 SVs in the message almanac for SVs 1 32 in ascending order For that message a total of 448 words constitutes the data area For each of 32 SVs that corresponds to 14 words per SV Those 14 words consist of one word containing the week number and status bit described in Table 3 47 above as Almanac Week amp Status 12 words of the same data as described for the data area above then a single 16 bit checksum of the previous 13 words The SV PRN code is not included in the message 130 since the SV ID is inferred from the location in the array Ephemeris Data Response to Poll Message ID 15 Output Messages The ephemeris data that is polled from the receiver is in a special SIRF format based on the ICD GPS 200 format for ephemeris data Output Rate Response to poll Table 3 49 Contents of Message ID 14 Name Bytes Description Message ID 1 Hex 0x0E decimal 14 SV ID 1 SV PRN code hex 0x01 0x02 decimal 1 32 Data 90 UINT16 3 15 array with sub frames 1 3 data Payload length 92 bytes 1 The data area consists of a 3x15 array of unsigned integers 16 bits long The first word of each row in the array 0 0 1 0 and 2 0 will contain t
50. Units Description Message ID 1 83 decimal 131 Elements 1 3 Number of elements in array to dump minimum 1 Data address 4 Ox60xx xxxx Address of the data to be dumped Members 1 gt Number of items in the structure to be dumped Member Elements 01 02 01 01 04 Bytes List of element sizes in the structure See sizes Table 2 12 for definition of member sizes total of 5 for this example Header string length Hello 0 String to print out before data dump total 1 of 8 bytes this example Format string length 2d 2d 2d Format string for one line of output total 1 2d 10 11 0 of 26 bytes in this example with 0 termination Trailer string length 0 not used 1 Payload length Variable SiRF Binary Protocol Reference Manual September 2004 II Table 2 12 defines the the values associated with the membersize data type Table 2 12 Member Sizes Data Type Value for member size Data Type bytes char INT8 UINT8 1 short int INT16 UINT16 SINT16 BOOL16 2 long int float INT32 UINT32 SINT32 BOOL32 4 FLOAT32 long long double INT64 DOUBLE64 8 Poll Software Version Message ID 132 Table 2 13 contains the input values for the following example Poll the software version Example A0A20002 Start Sequence and Payload Length 8400 Payload 0084B0B3 Message Checksum and End Sequence Table 2 13 Software Version Binary Hex Name B
51. User Timeout a value of 1 to 255 here means that SBAS corrections may be used for the number of seconds specified A value of 0 means to use the timeout specified in the SBAS satellite message usually 18 seconds Elevation Mask Message ID 139 Table 2 26 contains the input values for the following example Set Navigation Mask to 15 5 degrees Tracking Mask is defaulted to 5 degrees Example A0A20005 Start Sequence and Payload Length 8B0032009B Payload 0158B0B3 Message Checksum and End Sequence 2 14 SiRF Binary Protocol Reference Manual September 2004 Input Messages Table 2 26 Elevation Mask Binary Hex Name Bytes Scale Example Units Description Message ID 1 8B Decimal 139 Tracking Mask 2 10 0032 degrees Not implemented Navigation Mask 2 10 009B degrees Range 20 0 to 90 0 Payload length 5 bytes Note Satellite with elevation angle relative to the local horizon that is below the specified navigation mask angle will not be used in the navigation solution Power Mask Message ID 140 Table 2 27 contains the input values for the following example Navigation mask to 33 dB Hz tracking default value of 28 Example A0A20003 Start Sequence and Payload Length 8C1C21 Pa yload 00C9BOB3 Message Checksum and End Sequence Table 2 27 Power Mask Binary Hex Name Bytes Scale Example Units
52. able and unlikely to occur frequently in the data In addition the transport layer prefixes the message with a two byte 15 bit message length and a two byte 15 bit checksum The values of the start and stop characters and the choice of a 15 bit value for length and checksum ensure message length and checksum can not alias with either the stop or start code The validation layer is of part of the transport but operates independently The byte count refers to the payload byte length The checksum is a sum on the payload 1 1 II Payload Length Payload Data Checksum 1 2 The payload length is transmitted high order byte first followed by the low byte High Byte Low Byte lt 0x7F Any value Even though the protocol has a maximum length of 2 5 1 bytes practical considerations require the SIRF GPS module implementation to limit this value to a smaller number The SiRF receiving programs e g SIRFdemo may limit the actual size to something less than this maximum The payload data follows the payload length It contains the number of bytes specified by the payload length The payload data may contain any 8 bit value Where multi byte values are in the payload data neither the alignment nor the byte order are defined as part of the transport although SiRF payloads will use the big endian order The checksum is transmitted high order byte first followed by the low byte This is the so cal
53. ad Length 0A000D0003xxxxxxxxaaaaaaaabbbbbbbb Payload xxxxB0B3 Message Checksum and End Sequence Output Messages 3 13 3 14 Table 3 24 Error ID 13 Message Binary Hex ASCII Decimal Name Bytes Scale Example Units Scale Example Message ID 1 0A 10 Error ID 2 000D 13 Count 2 0003 3 x 4 XXXXXXXX XXXXXXXX Y 4 aaaaaaaa aaaaaaaa Z 4 bbbbbbbb bbbbbbbb Payload length 17 byte 5 Table 3 25 Error ID 13 Message Description Name Description Message ID Message ID number Error ID Error ID see Error ID description above Count Number of 32 bit data in message X X position in ECEF Y Y position in ECEF Z Z position in ECEF Error ID 4097 0x Code Define Name Error ID Description Example 1001 Errid MI VCOClockLost VCO lost lock indicator A0A20009 Start Sequence and Payload Length 0A1001000100000001 Payload 001DB0B3 Message Checksum and End Sequence Table 3 26 Error ID 4097 Message Binary Hex ASCII Decimal Name Bytes Scale Example Units Scale Example Message ID 1 0 10 Error ID 2 1001 4097 Count 2 0001 1 VCOLost 4 00000001 1 Payload length 9 bytes Table 3 27 Error ID 4097 Message Description Name Description Message ID Message ID number Error ID Error ID see Error ID description above Count Number of 32 bit
54. age ID 129 2 6 Set Almanac Message ID 130 2 7 Handle Formatted Dump Data Message ID 131 2 8 Poll Software Version Message ID 132 2 9 vi DGPS Source Message ID 133 2 9 Set Main Serial Port Message ID 134 2 11 Switch Protocol Message ID 135 2 12 Mode Control Message ID 136 2 12 DOP Mask Control Message ID 137 2 13 DGPS Control Message ID 138 2 14 Elevation Mask Message ID 139 2 14 Power Mask Message ID 140 2 15 Editing Residual Message ID 141 2 15 Steady State Detection Message ID 142 2 15 Static Navigation Message ID 143 2 16 Poll Clock Status Message ID 144 2 16 Set DGPS Serial Port Message ID 145 2 17 Poll Almanac Message ID 146 2 17 Poll Ephemeris Message ID 147 2 18 Flash Update Message ID 148 2 18 Set Ephemeris Message ID 149 2 19 Switch Operating Modes Message ID 150 2 19 Set TricklePower Parameters Message ID 151
55. ate during the test period As an example for a 20 second test period the total number of bits that can be demodulated by the receiver is 12000 SOBPS x 20sec x 12 channels Poor Status This value is derived from phase accumulation time Phase accumulation is the amount of time a receiver maintains phase lock Every 100msec of loss of phase lock equates to 1 poor status count As an example the total number of status counts for a 60 second period is 7200 12 channels x 60 sec x 10 sec Good Status This value is derived from phase accumulation time Phase accumulation is the amount of time a receiver maintains phase lock Every 100msec of phase lock equates to 1 good status count Parity Error Count The number of word parity errors This occurs when the transmitted parity word does not match the receivers parity check Lost VCO Count The number of 1 msec VCO lost lock was detected This occurs when the PLL in the RFIC loses lock A significant jump in crystal frequency and or phase will cause a VCO lost lock Frame Sync The time it takes for channel 0 to reach a 3F status C No Mean Calculated average of reported C No by all 12 channels during the test period C No Sigma Calculated sigma of reported C No by all 12 channels during the test period Clock Drift Change Difference in clock frequency from start and end of the test period Clock Drift Rate of change of clock bias Bad 1Khz Bi
56. ate is 1 255 sec 2 A value of 0x00 implies the checksum NOT transmitted with the message not recommended A value of 0x01 will have a checksum calculated and transmitted as part of the message recommended 3 These fields are available if additional messages have been implemented in the NMEA protocol 2 6 SiRF Binary Protocol Reference Manual September 2004 lll Table 2 9 Mode Values Value Meaning 0 Enable NMEA debug messages l Disable NMEA debug messages 2 Do not change last set value for NMEA debug messages In TricklePower mode update rate is specified by the user When you switch to NMEA protocol message update rate 1s also required The resulting update rate 1s the product of the TricklePower update rate and the NMEA update rate e g TricklePower update rate 2 seconds NMEA update rate 5 seconds resulting update rate is every 10 seconds 2 X 5 10 Note To switch back to the SiRF Binary protocol you must send a SiRF NMEA message to revert to SiRF binary mode See SiRF NMEA Reference Manual for more information Set Almanac Message ID 130 This command enables the user to upload an almanac file to the receiver Example A0A20380 Start Sequence and Payload Length 2 Payload xxxxB0B3 Message Checksum and End Sequence Table 2 10 Set Almanac Message Binary Hex Name Bytes Scale Example Units Description Message ID 1 82 Decimal 130 Almanac
57. c Nav Mode 1 00 0 Reserved 2 Position X 8 m Position Y 8 m Position Z 8 m Position Init Source 1 02 2 GPS Time 8 sec GPS Week 2 0434 1076 Time Init Source 1 02 sec 2 Drift 8 Hz Drift Init Source 1 02 sec 2 Payload length 84 bytes 1 0 Use last know altitude 1 Use user input altitude 2 Use dynamic input from external source 2 0 Use direction hold and then time hold 1 Use time hold and then direction hold 2 Only use direction hold 3 Only use time hold 4 Degraded mode is disabled 07 True 1 False w 0 Use DGPS if available 1 Only navigate if DGPS corrections are available 2 Never use DGPS corrections 0 True 1 False 0 ROM position 1 User position 2 SRAM position 3 Network assisted position 0 ROM time 1 User time 2 SRAM time 3 RTC time 4 Network assisted time 0 ROM clock 1 User clock 2 SRAM clock 3 Calibration clock 4 Network assisted clock aon QN tA Note Altitude is a single precision floating point value while position XYZ GPS time and drift are double precision floating point values per IEEE 754 To properly interpret these values in a PC the bytes need to be rearranged See Note in MID 28 for byte orders Output Messages 3 37 3 Geodetic Navigation Data Message ID 41 3 38 Output Rate Every measurement cycle full power continuous 1 Hz Example AO A2 00 5B Start Sequence and Payload Length 29 00 00 02 04
58. cle 4 1 00 Number of Fixes 2 0000 Time Between Fixes 2 0000 sec Horizontal Vertical Error Max 1 00 m Response Time 1 00 sec Time Accu amp Time Duty Cycle Priority 1 00 Payload length 65 bytes O oo Dn WY NY These values are set by message ID 136 See descrip These values are set by message ID 143 See descrip These values are set by message ID 137 See descrip These values are set by message ID 139 See descrip These values are set by message ID 140 See descrip These values are set by message ID 133 See descrip These values are set by message ID 138 See descrip ion o ion o ion o ion o ion o ion o ion o values in Ta values in Ta values in Ta values in Ta values in Ta values in Ta values in Ta 00 GSW2 definition 01 SiRF Binary APM definition other values reserved ble 2 19 ble 2 28 These parameters are set in the software and are not modifiabl e via the User Inteface ble 2 22 ble 2 26 ble 2 27 ble 2 14 ble 2 24 10 These values are set by message ID 151 See description of values in Table 2 36 11 This setting is derived from the LP on time and LP interval 12 These values are set by message ID 167 See description of values in Table 2 42 13 Bit 7 APM Enabled 1 enabled 0 disabled Bits 0 4 Power Duty Cyc 14 Only used in SiRFLoc software 15 See 16 Bits 2 3 Time Accuracy 0x00 no priorit
59. cond is selected Computation of Duty Cycle and On Time The Duty Cycle is the desired time to be spent tracking The On Time is the duration of each tracking period range is 200 900 msec To calculate the TricklePower update rate as a function of Duty Cycle and On Time use the following formula Update Rate On Time in sec Duty Cycle Note It is not possible to enter an on time gt 900 msec Following are some examples of selections Table 2 37 Example of Selections for TricklePower Mode of Operation Mode On Time ms Duty Cycle Interval Between Updates sec Continuous 1000 100 1 TricklePower 200 20 1 TricklePower 200 10 2 TricklePower 300 10 3 TricklePower 500 5 10 1 Continuous duty cycle is activated by setting Duty Cycle to 0 or 100 SiRF Binary Protocol Reference Manual September 2004 Table 2 38 Duty Cycles for Supported TricklePower Settings Update Rates sec On Time ms 1 2 3 4 5 6 7 8 9 10 200 200 100 67 50 40 33 29 25 22 20 300 300 150 100 75 60 50 43 37 33 30 400 400 200 133 100 80 67 57 50 44 40 500 500 250 167 125 100 83 71 62 56 50 600 600 300 200 150 120 100 86 75 67 60 700 350 233 175 140 117 100 88 78 70 800 400 267 200 160 133 114 100 89 80 900 450 300 225 180 150 129 112 100 90 Note Values in times 10 as needed for the duty cycle field For 1 seco
60. e Message ID 52 Output Messages Output time associated with current 1 PPS pulse Each message will be output within a few hundred ms after the 1 PPS pulse is output and will tell the time of the pulse that just occurred The MID 52 will report the UTC time of the 1 PPS pulse when it has a current status message from the satellites If it does not have a valid status message it will report time in GPS time and will so indicate by means of the status field Output Rate 1 Hz Synchronized to PPS Example A0A20013 Start Sequence and Payload Length 3415122A0E0A07D3000D000000050700000000 Payload 0190B0B3 Message Checksum and End Sequence Table 3 74 Timing Message Data Binary Hex ASCII Decimal Name Bytes Scale Example Units Scale Example Message ID 1 34 52 Hour 1 15 21 Minute 1 12 18 Second 1 2 42 Day 1 15 Month 1 0A 10 3 49 II Qo Table 3 74 Timing Message Data Binary Hex ASCII Decimal Name Bytes Scale Example Units Scale Example Year 2 07D3 2003 UTCOffsetInt 2 000D 13 UTCOffsetFrac 4 10 00000005 sec 10 0 000000005 Status see Table 3 75 1 7 7 Reserved 4 00000000 00000000 Payload length 19 bytes Table 3 75 Status Byte Field in Timing Message Bit Fields Meaning 0 When set bit indicates that time is valid When set bit indicates that UTC time is reported in this
61. e checksum failure forces a cold start Example 2 Start Sequence and Payload Length 0A10080004xxxxxxxaaaaaaaa00000000cccccccec Payload xxxxB0B3 Message Checksum and End Sequence 3 15 3 16 Table 3 30 Error ID 4104 Message Binary Hex ASCII Decimal Name Bytes Scale Example Units Scale Example Message ID 0 10 Error ID 2 1008 4104 Count 2 0004 or 4 0003 or 3 or 0002 2 Computed Receiver 4 XXXXXXXX xxxx Control Checksum Battery Backed Receiver 4 aaaaaaaa aaaa Control Checksum Battery Backed Receiver 4 00000000 0 Control OpMode Battery Backed Receiver 4 Control Channel Count Compute Clock Offset 4 XXXXXXXX XXXX Checksum Battery Backed Clock 4 aaaaaaaa aaaa Offset Checksum Battery Backed Clock 4 bbbbbbbb bbbb Offset Computed Position Time 4 XXXXXXXX XXXX Checksum Battery Backed 4 aaaaaaaa aaaa Position Time Checksum Payload length 21 17 or 11 bytes Table 3 31 Error ID 4104 Message Description Name Description Message ID Message ID number Error ID Error ID see Error ID description above Count Computed Receiver Control Checksum Number of 32 bit data in message Computed receiver control checksum of SRAM Data Control structure Battery Backed Receiver Control Checksum Battery backed receiver control checksum stored in SRAM Data DataBuffer
62. ee RTCM Recommended Standards for Differential GNSS by the Radio Technical Commission for Maritime Services Data length and message output rate will vary based on received data Table 3 53 RTCM message Name Bytes Example Hex Example Decimal Message ID 1 11 17 Data length 2 002D 45 Data variable Payload length variable 1 Data length and message output rate will vary based on received data OkToSend Message ID 18 Output Rate Two messages per power saving cycle Example A0A20002 Start Sequence and Payload Length 1200 Payload Output Messages 3 25 0012B0B3 Message Checksum and End Sequence Table 3 54 Almanac Data Binary Hex ASCII Decimal Name Bytes Scale Example Units Scale Example Message ID 1 12 18 Send Indicator 1 00 00 Payload length 2 bytes 1 0 implies that CPU is about to go OFF OkToSend NO 1 implies CPU has just come ON OkToSend YES Note This message is sent when the receiver is in a power saving mode One message is sent just before the receiver s power is turned off with Send Indicator set to 0 and one is sent once the power has been restored with Send Indicator set to 1 Navigation Parameters Response to Poll Message ID 19 3 26 Output Rate Response to Poll See Message ID 152 Example AO A2 00 41 Start Sequence and Payload Length 13 00 00 00 00 00 00 00 00 01 1E OF 01 00
63. eptember 2004 Tables Table 3 5 Table 3 6 Table 3 7 Table 3 8 Table 3 9 Table 3 11 Table 3 10 Table 3 12 Table 3 13 Table 3 16 Table 3 17 Table 3 14 Table 3 15 Table 3 18 Table 3 19 Table 3 20 Table 3 22 Table 3 23 Table 3 21 Table 3 26 Table 3 27 Table 3 24 Table 3 25 Table 3 28 Table 3 29 Table 3 31 Table 3 30 Table 3 32 Table 3 33 Table 3 34 Table 3 35 Table 3 36 Mod L z eru UH eee dds 3 4 Mod cuu E EN Rati ee sea eee aah 3 6 Measured Tracker Data Out 3 7 State Values for Each 3 7 Software Version String y s u cece eee ees 3 8 50 BPS Data ee dees Roda ee d 3 9 Clock Status Data Message 3 9 CPU Throughput ee RM 3 10 Message ID 10 Overall Format 3 10 Error ID 9 Message ce ege Se E eg 3 11 Error ID 9 Message Description 3 11 Error ID2 Message soie RR ERREUR UI CR ER Ras 3 11 Error ID 2 Message Description 3 11 Error ID 10 Message tennein n e m hn 3 12 Error ID 10 Message Description 3 12 Error ID 11 Message 0 cece cee eens 3 12 Error ID J2 Message uz Capeta ERU aes 3 13 Error ID 12 Message Description 3 13 Error ID 11 Message Description
64. er Frequency 4 468C6964 m s 1 6756767578e 004 Carrier Phase 8 Reserved N A N A Time in Track 2 7530 ms 10600 Sync Flags 1 17 23 C No 1 1 34 dB Hz 43 C No 2 1 dB Hz 43 C No 3 1 dB Hz 43 C No 4 1 dB Hz 43 C No 5 1 dB Hz 43 C No 6 1 dB Hz 43 C No 7 1 dB Hz 43 C No 8 1 dB Hz 43 C No 9 1 dB Hz 43 C No 10 1 dB Hz 43 Delta Range Interval 2 03 801 4 1000 Mean Delta Range 2 01 4 ms 500 Time Extrapolation Time 2 0000 ms Phase Error Count 1 00 0 Low Power Count 1 00 0 Payload length 56 bytes 3 32 SiRF Binary Protocol Reference Manual September 2004 Qo II Output Messages Note For GPS Software Time Psuedorange Carrier Frequency and Carrier Phase the fields are either floating point 4 byte fields or double precision floating point 8 byte fields per IEEE 754 format The byte order may have to be changed to be interpreted properly on some computers Also the byte order differs between GPS software versions 2 2 0 and earlier and versions 2 3 0 and later To convert the data to be properly interpreted on a PC compatible computer do the following For double precision 8 byte values Assume the bytes are transmitted in the order of BO B7 For version 2 2 0 and earlier software rearrange them to B3 B2 B1 BO B7 B6 BS B4 For version 2 3 0 and later software rearrange them to B7 B6 BS BO For single precision 4 byte values Assume bytes are transmitted in the ord
65. er of BO B1 B2 B3 Rearrange them to B3 B2 Bl BO that is byte B3 goes into the lowest memory address BO into the highest With these remappings the values should be correct To verify compare the same field from several satellites tracked at the same time The reported exponent should be similar within 1 power of 10 among all satellites The reported Carrier Frequency contains a bias of the clock drift reported in MID 7 To adjust the reported carrier frequency do the following Corrected Carrier Frequency m s Reported Carrier Frequency m s Clock Drift Hz 1575420000 Hz For a nominal clock drift value of 96 25 kHz equal to a GPS Clock frequency of 24 5535 MHZ the correction value is 18315 766 m s Table 3 64 Sync Flag Fields Bit Fields Description 0 Coherent Integration Time 0 2ms 1 10ms 2 1 Synch State 00 Not aligned 01 Consistent code epoch alignment 10 Consistent data bit alignment 11 No millisecond errors 4 3 Autocorrelation Detection State 00 Verified not an autocorrelation 01 Testing in progress 10 Strong signal autocorrelation detection not run 11 Not used Table 3 65 Detailed Description of the Measurement Data Name Description Message I D Message I D number Channel Receiver channel number for a given satellite being searched or tracked Range of 0 11 for channels 1 12 respectively Time Tag This is the T
66. eristics listed in this document do not constitute a warranty or guarantee of product performance SiRF products are not intended for use in life support systems or for life saving applications All terms and conditions of sale are governed by the SIRF Terms and Conditions of Sale a copy of which may obtain from your authorized SiRF sales representative December 2004 Ory Please Q 9 Recycle
67. es for the following example Poll for the almanac Example A0A20002 Start Sequence and Payload Length 9200 Payload 0092B0B3 Message Checksum and End Sequence Table 2 31 Almanac Binary Hex Name Bytes Scale Example Units Description Message ID 1 92 Decimal 146 Control 1 00 Not used Payload length 2 bytes Note Returned message will be MID 14 See Almanac Data Message ID 14 on page 3 22 2 Poll Ephemeris Message ID 147 Table 2 32 contains the input values for the following example Poll for Ephemeris Data for all satellites Example A0A20003 Start Sequence and Payload Length 930000 Payload 0092B0B3 Message Checksum and End Sequence Table 2 32 Ephemeris Binary Hex Name Bytes Scale Example Units Description Message ID 1 93 Decimal 147 Sv ID 1 00 Range 0 to 32 Control 1 00 Not used Payload length 3 bytes 1 A value of zero requests all available ephemeris records This will result in a maximum of twelve output messages A value of 1 32 will request only the ephemeris of that SV Note Returned message will be MID 15 See Ephemeris Data Response to Poll Message ID 15 on page 3 23 Flash Update Message ID 148 This command allows the user to command the receiver to go into internal boot mode without setting the boot switch Internal boot mode allows the user to re flas
68. ges Chapter 4 Additional Information Other useful information pertaining to the SiRF Binary protocol xxi Troubleshooting Contacting SiRF Technical Support Address SiRF Technology Inc 148 East Brokaw Road San Jose CA 95112 U S A SiRF Technical Support Phone 1 408 467 0410 9 am to 5 pm Pacific Standard Time Email support sirf com General enquiries Phone 1 408 467 0410 9 am to 5 pm Pacific Standard Time Email gps sirf com Helpful Information When Contacting SiRF Technical Support Receiver Serial Number Receiver Software Version SiRFdemo Version xxii SiRF Binary Protocol Reference Manual September 2004 Transport Message Transport Message Validation Protocol Layers III The SiRF Binary protocol is the standard interface protocol used by all SiRF based products This serial communication protocol is designed to include Reliable transport of messages Ease of implementation Efficient implementation Independence from payload Start Payload Message End Sequence Length Payload Checksum Sequence OxAQ Two bytes Up to 2 8 1 Two bytes OxBO OxA2 15 bits lt 1023 15 bits OxB3 1 Characters preceded by denotes a hexadecimal value 0xA0 equals 160 The transport layer of the protocol encapsulates a GPS message in two start characters and two stop characters The values are chosen to be easily identifi
69. grees 50 Payload length variable 2 5 times number of visible SVs up to maximum of 62 bytes Almanac Data Message ID 14 Output Rate Response to poll Table 3 47 Contents of Message ID 14 Name Bytes Description Message ID 1 Hex OxOE decimal 14 SV ID 1 SV PRN code hex 0x01 0x02 decimal 1 32 Almanac Week amp Status 2 10 bit week number in 10 MSBs status in 6 LSBs 1 good 0 bad Data 24 UINT16 12 array with sub frame data Checksum 2 Payload length 30 bytes 1 The data area consists of an array of 12 16 bit words consisting of the data bytes from the navigation message sub frame Table 3 48 shows how the actual bytes in the navigation message corresponds to the bytes in this data array Note that these are the raw navigation message data bits with any inversion removed and the parity bits removed 3 22 SiRF Binary Protocol Reference Manual September 2004 Table 3 48 Byte Positions Between Navigation Message and Data Array Navigation Message Data Array Navigation Message Data Array Word Byte Word Byte Word Byte Word Byte 3 MSB 0 LSB 7 MSB 6 MSB 3 Middle 0 MSB 7 Middle 6 LSB 3 LSB 1 LSB 7 LSB 7 MSB 4 MSB 1 MSB 8 MSB 7 LSB 4 Middle 2 LSB 8 Middle 8 MSB 4 LSB 2 MSB 8 LSB 8 LSB MSB 3 LSB 9 MSB 9 MSB 5 Middle 3 MSB 9 Middle 9 LSB 3 LSB 4 LSB 9 LSB 10 M
70. h of the 8 byte fields as well as Clock Drift and Ionospheric Delay fields are floating point values per IEEE 754 To properly interpret these in a PC the bytes need to be rearranged See Note in MID 28 for byte orders Navigation Library Initialization Data Message ID 31 Output Rate Every measurement cycle full power continuous 1Hz Example A0A20054 Start Sequence and Payload Length 1F 00000000000001001E000F 00 000000000F 00 02 043402 02 Payload 0E27B0B3 Message Checksum and End Sequence Table 3 68 Measurement Data Binary Hex ASCII Decimal Name Bytes Scale Example Units Scale Example Message ID 1 1F 31 Reserved 1 Altitude 1 00 0 Altitude Source 1 00 0 Altitude 4 00000000 m 0 Degraded Mode 1 01 1 3 36 SiRF Binary Protocol Reference Manual September 2004 Qo II Table 3 68 Measurement Data Continued Binary Hex ASCII Decimal Name Bytes Scale Example Units Scale Example Degraded Timeout 2 001 sec 30 Dead reckoning Timeout 2 000F sec 15 Reserved 2 Track Smoothing Mode 1 00 0 Reserved 1 Reserved 2 Reserved 2 Reserved 2 DGPS Selection 1 00 0 DGPS Timeout 2 0000 sec 0 Elevation Nav Mask 2 2 000F deg 15 Reserved 2 Reserved 1 Reserved 2 Reserved 1 Reserved 2 Stati
71. h the embedded code in the receiver Note It is highly recommended that all hardware designs should still provide access to the boot pin in the event of a failed flash upload Example A0A20001 Start Sequence and Payload Length 94 Payload 0094B0B3 Message Checksum and End Sequence Table 2 33 Flash Update Binary Hex Name Bytes Scale Example Units Description Message ID 1 94 Decimal 148 Payload length 1 bytes 2 18 SiRF Binary Protocol Reference Manual September 2004 lll Set Ephemeris Message ID 149 This command enables the user to upload an ephemeris file to the receiver Example A0A2005B Start Sequence and Payload Length 9 Payload xxxxB0B3 Message Checksum and End Sequence Table 2 34 Ephemeris Binary Hex Name Bytes Scale Example Units Description Message ID 1 95 Decimal 149 Ephemeris Data 90 00 Reserved Payload length 91 bytes The ephemeris data for each satellite is stored as a two dimensional array of 3 15 UNIT16 elements The row represents three separate sub frames See MID 15 Data Response to Poll Message ID 15 on page 3 23 for a detailed description of this data format See Switch Operating Modes Message ID 150 This command sets the receiver into either production test or normal operating mode Table 2 35 contains the input values fo
72. he SV ID The remaining words in the row will contain the data from the navigation message sub frame with row 0 containing sub frame 1 row 1 containing sub frame 2 and row 2 containing sub frame 3 Data from the sub frame is stored in a packed format meaning that the 6 parity bits of each 30 bit navigation message word have been removed and the remaining 3 bytes are stored in 1 5 16 bit words Since the first word of the sub frame the telemetry word TLM does not contain any data needed by the receiver it is not saved Thus there are 9 remaining words with 3 bytes in each sub frame This total of 27 bytes is stored in 14 16 bit words The second word of the sub frame the handover word HOW has its high byte MSB stored as the low byte LSB of the first of the 16 bit words Each following byte is stored in the next available byte of the array Table 3 50 shows where each byte of the sub frame is stored in the row of 16 bit words 3 23 II Qo Table 3 50 Byte Positions Between Navigation Message and Data Array Navigation Message Data Array Navigation Message Data Array Word Byte Word Byte Word Byte Word Byte 2 HOW MSB Urt LSB 7 MSB Hr MSB 2 Middle 02 MSB 7 Middle Hr LSB 2 LSB 1 2 LSB 7 LSB 0010 MSB 3 MSB HI MSB 8 MSB 0010 LSB 3 Middle I3 LSB 8 Middle 0011 MSB 3 LSB MSB 8 LSB O01 LSB 4 MSB LSB 9 MSB 0012 MSB
73. ime in seconds that the satellite is tracked Bit Sync Time The time it takes for channel 0 to achieve the status of 37 C No Mean Calculated average of reported C No by all 12 channels during the test period C No Sigma Calculated sigma of reported C No by all 12 channels during the test period Clock Drift Difference in clock frequency from start and end of the test period Clock Offset The internal clock offset I Count Errors Errors in Ims post correlation I count values Abs I20ms Absolute value of the 20ms coherent sums of the I count over the duration of the test period Q Ims Absolute value of the 1ms Q count over the duration of the test period 3 31 3 Navigation Library Measurement Data Message ID 28 Output Rate Every measurement cycle full power continuous 1Hz Example A0A20038 Start Sequence and Payload Length 1C00000660D015F 143F62C4113F42F417B235CF3FBE95E468C6964B8FBC5824 15 CF1C375301734 03E801F400000000 Payload 1533B0B3 Message Checksum and End Sequence Table 3 63 Measurement Data Binary Hex ASCII Decimal Name Bytes Scale Example Units Scale Example Message I D 1 IC 28 Channel 1 00 0 Time Tag 4 000660D0 ms 135000 Satellite ID 1 15 20 GPS Software Time 8 F143F62C4113F42F ms 2 4921113696e 005 Pseudorange 8 417B235CF3FBE95E m 2 1016756638e 007 Carri
74. ime lt 80 ms Bit 3 ON invalid serial DR message checksum Bit 4 ON no DR data for gt 2 sec Bit 5 ON DR data timestamp did not advance Bit 6 ON DR data byte stream all 0x00 or OxFF Bit 7 ON composite wheel tick count jumped gt 255 between successive DR messages Bit 8 ON input gyro data bits 15 of 0x0000 or Ox3FFF Bit 9 ON gt 10 DR messages received in 1 sec Bit 10 ON time difference between two consecutive measurements is lt 0 Bits 11 15 Reserved DR calibration amp DR gyro bias calibration Bits 0 3 0000 valid DR calibration else Bit 0 ON invalid DR gyro bias calibration Bit 1 ON invalid DR scale factor calibration Bit 2 ON invalid DR speed scale factor calibration Bit 3 ON GPS calibration required but not ready Bits 4 6 000 valid DR gyro bias calibration else Bit 4 ON invalid DR data Bit 5 ON zero speed gyro bias cal not updated Bit 6 ON heading rate scale factor lt 1 Bit 7 Reserved Output Messages 3 43 Name Bytes Description DR gyro scale factor calibration amp DR speed scale factor calibration Bits 0 3 0000 valid DR gyro scale factor calibration else Bit 0 ON invalid DR heading Bit 1 ON invalid DR data Bit 2 ON invalid DR position Bit 3 ON heading rate scale factor lt 1 Bits 4 7 0000 valid DR speed scale factor calibration else Bit 4 ON invalid DR data Bit 5 ON invalid DR
75. ime Out 1 05 seconds 0 disable degraded mode 1 120 seconds degraded mode time limit DR Time Out 1 02 seconds 0 disable dead reckoning 1 120 seconds dead reckoning mode time limit Track Smoothing 1 01 0 1 enable Payload length 14 bytes SiRF Binary Protocol Reference Manual September 2004 Table 2 20 Degraded Mode Byte Value Description 0 Allow 1 SV navigation freeze direction for 2 SV fix then freeze clock drift for 1 SV fix 1 Allow 1 SV navigation freeze clock drift for 2 SV fix then freeze direction for 1 SV fix Allow 2 SV navigation freeze direction 3 Allow 2 SV navigation freeze clock drift Do not allow Degraded Modes 2 SV and 1 SV navigation Table 2 21 Altitude Hold Mode Byte Value Description 0 Automatically determine best available altitude to use 1 Always use input altitude 2 Do not use altitude hold DOP Mask Control Message ID 137 Input Messages Table 2 22 contains the input values for the following example Auto PDOP HDOP GDOP 8 default PDOP 8 HDOP 8 Example A0A20005 Start Sequence and Payload Length 8900080808 Payload 00A1B0B3 Message Checksum and End Sequence Table 2 22 DOP Mask Control Binary Hex Name Bytes Scale Example Units Description Message ID 1 89 Decimal 137 DOP Selection 1 00 See Table 2 23 GDOP Value 1 08 Range
76. ime Tag in milliseconds of the measurement block in the receiver software time Satellite ID Satellite or Space Vehicle SV I D number or Pseudo random Noise PRN number GPS Software Time This is GPS Time of Week TOW estimated by the software in milliseconds Pseudorange This is the generated pseudorange measurement for a particular SV 3 33 3 34 Table 3 65 Detailed Description of the Measurement Data Continued Name Description Carrier Frequency This is can be interpreted in two ways 1 The delta pseudorange normalized by the reciprocal of the delta pseudorange measurement interval 2 The frequency from the AFC loop If for example the delta pseudorange interval computation for a particular channel is zero then it can be the AFC measurement otherwise it is a delta pseudorange computation Carrier Phase This is the integrated carrier phase given in meters Time in Track The Time in Track counts how long a particular SV has been in track For any count greater than zero 0 a generated pseudo range is present for a particular channel The length of time in track is a measure of how large the pull in error may be Syne Flags This byte contains two a two bit fields that report the integration inter val and sync value achieved for a particular channel 1 Bit 0 Coherent Integration Interval 0 2 milliseconds 1 10 milli seconds 2 Bits 1 2 Synchro
77. ious status messages Table 3 2 Sub IDs for SiRFDRive output MID 48 0x30 Sub ID Message DR Navigation Status DR Navigation State Navigation Subsystem Raw DR Data DR Validity not implemented DR Gyro Factory Calibration DR Sensors Parameters cool DAD tn A WI NI DR Data Block As the SiRF Binary protocol is evolving along with continued development of SiRF software and GPS solutions not all SiRF Binary messages are supported by all SiRF GPS solutions Table 3 3 identifies the supported output messages for each SiRF architecture Table 3 3 Supported output messages SiRF Software Options Message ID GSW2 SiRFDRive SiRFXTrac SiRFLoc GSW3 1 Yes Yes No No No 2 Yes Yes Yes Yes Yes 3 No No No No No 4 Yes Yes Yes Yes Yes 5 No No No No No 6 Yes Yes Yes Yes Yes 7 Yes Yes Yes Yes Yes 8 Yes Yes Yes Yes Yes 9 Yes Yes Yes Yes Yes 10 Yes Yes Yes Yes Yes 11 Yes Yes Yes Yes Yes 12 Yes Yes Yes Yes Yes 13 Yes Yes Yes Yes Yes 14 Yes Yes Yes Yes Yes 15 Yes Yes Yes Yes Yes 16 Yes Yes No No No 17 Yes Yes No No No 18 Yes Yes Yes Yes Yes 19 Yes Yes Yes Yes Yes 20 Test Mode 2 only Test Mode 2 only Test Mode 2 3 4 Test Mode 2 3 4 No 28 Yes Yes No No Yes 29 Yes Yes No No No 30 Yes Yes No No Yes 31 Yes Yes No No Yes 41 2 3 or above Yes 2 0 or above No Yes SiRF Bina
78. iption Message ID Message I D number SV ID The PRN code of the satellite being tracked Period The total duration of time in seconds that the satellite is tracked Bit Sync Time The time it takes for channel 0 to achieve state 0x37 Bit Count The total number of data bits that the receiver is able to demodulate during the test period As an example for a 20 second test period the total number of bits that can be demodulated by the receiver is 12000 50 BPS x 20 sec x 12 channels Poor Status This value is derived from phase accumulation time Phase accumulation is the amount of time a receiver maintains phase lock Every 100 msec of loss of phase lock equates to 1 poor status count As an example the total number of status counts for a 60 second period is 7200 12 channels x 60 sec x 10 100 ms intervals Good Status This value is derived from phase accumulation time Phase accumulation is the amount of time a receiver maintains phase lock Every 100 msec of phase lock equates to 1 good status count Parity Error Count The number of navigation message word parity errors This occurs when the transmitted parity word does not match the receiver s parity check Lost VCO Count The number of 1 msec VCO lost lock detected This occurs when the PLL in the RFIC loses lock A significant jump in crystal frequency and or phase will cause a VCO lost lock Frame Sync The time it takes for channel 0 to reach state O
79. ity variance gt 1 m s Bit 4 ON GPS heading error gt DR heading error Bit 5 ON GPS KF not updated Bit 6 ON incomplete initial speed transient Bit 7 Reserved GPS position amp GPS velocity Bits 0 2 000 valid GPS position for DR else Bit 0 ON less than 4 SVs in GPS navigation Bit 1 ON EHPE 30 Bit 2 ON GPS KF not updated Bit 3 Reserved Bits 4 7 0000 valid GPS velocity for DR else Bit 4 ON invalid GPS position for DR Bit 5 ON EHVE gt 3 Bit 6 ON GPS speed 2 m s Bit 7 ON GPS did not update heading Reserved 2 Payload length 17 bytes 3 45 3 DR Navigation State Message ID 48 Sub ID 2 DR speed gyro bias navigation mode direction and heading output on every navigation cycle Name Bytes Scale Units Description MID 1 0x30 Sub ID 1 0 02 DR speed 2 102 DR speed error 2 104 m s DR speed scale factor 2 104 DR speed scale factor 2 104 error DR heading rate 2 102 deg s DR heading rate error 2 102 deg s DR gyro bias 2 102 deg s DR gyro bias error 2 102 deg s DR gyro scale factor 2 104 DR gyro scale factor 2 104 error Total DR position 4 10 m error Total DR heading error 2 10 deg DR Nav mode control 1 GPS only nav required no DR nav allowed 2 GPS DR nav using default stored calibration 3 GPS DR nav using current GPS ca
80. le 2 29 contains the input values for the following example Poll the clock status Example A0A20002 Start Sequence and Payload Length 9000 Payload 0090B0B3 Message Checksum and End Sequence Table 2 29 Clock Status Binary Hex Name Bytes Scale Example Units Description Message ID 1 90 Decimal 144 Control 1 00 Not used Payload length 2 bytes Note Returned message will be MID 7 See Response Clock Status Data Message ID 7 on page 3 8 SiRF Binary Protocol Reference Manual September 2004 II Set DGPS Serial Port Message ID 145 Table 2 30 contains the input values for the following example Set DGPS Serial port to 9600 n 8 1 Example A0A20009 Start Sequence and Payload Length 910000258008010000 Payload 013FB0B3 Message Checksum and End Sequence Table 2 30 Set DGPS Serial Port Binary Hex Name Bytes Scale Example Units Description Message ID 1 91 Decimal 145 Baud 4 00002580 57 6k 38 4k 19 2k 9600 4800 2400 1200 Data Bits 1 08 8 7 Stop Bit 1 01 0 1 Parity 1 00 None 0 Odd 1 Even 2 Pad 1 00 Reserved Payload length 9 bytes Note Setting the DGPS serial port using MID 145 will affect Com B only regardless of the port being used to communicate with the Evaluation Receiver Poll Almanac Message ID 146 Input Messages Table 2 31 contains the input valu
81. led big endian order High Byte Low Byte lt Ox7F Any value The checksum is 15 bit checksum of the bytes in the payload data The following pseudo code defines the algorithm used Let message to be the array of bytes to be sent by the transport Let msgLen be the number of bytes in the message array to be transmitted Index first checkSum 0 while index lt msgLen checkSum checkSum message index checkSum checkSum AND 215 1 SiRF Binary Protocol Reference Manual September 2004 Input Messages 2 The following chapter provides full information about available SiRF Binary input messages For each message a full definition and example is provided Table 2 1 lists the message list for the SiRF Binary input messages Table 2 1 SiRF Messages Input Message List Hex Decimal Name Description 35 53 Advanced Power Management Power management scheme for SiRFLoc and SiRFXTrac 80 128 Initialize Data Source Receiver initialization and associated parameters 81 129 Switch to NMEA Protocol Enable NMEA messages output rate and baud rate 82 130 Set Almanac upload Sends an existing almanac file to the receiver 84 132 Poll Software Version Polls for the loaded software version 85 133 DGPS Source Control DGPS correction source and beacon receiver information 86 134 Set Main Serial Port Baud rate data bits stop bits
82. libration 4 DR only nav no GPS nav allowed Reverse 1 DR direction 0 forward 1 reverse DR heading 2 102 deg s Payload length 32 bytes Navigation Subsystem Message ID 48 Sub ID 3 Heading heading rate speed and position of both GPS and DR output on every navigation cycle Name Bytes Scale Units Description MID 1 0x30 Sub ID 1 0x03 GPS heading rate 102 deg s 2 GPS heading rate error 2 102 deg s 2 102 deg GPS heading 3 46 SiRF Binary Protocol Reference Manual September 2004 Name Bytes Scale Units Description GPS heading error 2 102 deg GPS speed 2 102 GPS speed error 2 102 GPS position error 4 102 Im DR heading rate 2 102 deg s DR heading rate error 2 102 deg s DR heading 2 102 deg DR heading error 2 102 deg DR speed 2 102 DR speed error 2 102 DR position error 4 10 m Reserved 2 Payload length 36 bytes DR Gyro Factory Calibration Message ID 48 Sub ID 6 DR gyro s factory calibration parameters response to poll Name Bytes Scale Units Description MID 1 0 30 Sub ID 1 0 06 Calibration 1 Bit 0 Start gyro bias calibration Bits 2 7 Reserved Bit 1 Start gyro scale factor calibration Reserved 1 Payload length 4 bytes DR Sensors Parameters Message ID 48
83. menting User Tasks in the SSIII Architecture APNT3009 Effects of User Tasks on GPS Performance for SSIII APNT3010 Advanced Power Management APM Considerations for SSIII APNT3011 Multi ICE Testing Issues for SSIII APNT3012 Production Testing of SSIII Modules APNT3014 Automotive Design Considerations for SSIII SiRF Technology Inc 148 East Brokaw San Jose CA 95112 Tel 1 408 467 0410 Fax 1 408 467 0420 Email gps sirf com Website http www sirf com SiRF Texas Tel 1 972 239 6988 Fax 1 972 239 0372 Email SalesAmericas sirf com SiRF United Kingdom Tel 44 1344 668390 Fax 44 1344 668157 Email SalesUK sirf com SiRF Japan Tel 81 44829 2186 Fax 81 44829 2187 Email SalesJapan sirf com SiRF France Tel 33 6 0717 7862 Fax 44 1344 668157 Email SalesFrance sirf com SiRF Germany Tel 49 81 529932 90 Fax 49 81 529931 70 Email SalesGermany sirf com SiRF Taiwan Tel 886 2 2723 7853 Fax 886 2 2723 7854 Email SalesAsiaPacific sirf com SIRF India Tel 91 120 251 0256 Fax 91 120 251 0584 Email SalesIndia sirf com S3SDK Board System Development Kit Reference Manual 2004 SiRF Technology Inc All rights reserved Products made sold or licensed by SiRF Technology Inc are protected by one or more of the following United States patents 5 488 378 5 504 482 5 552 794 5 592 382 5 638 077 5 883 595 5 897 605 5 901 171 5 917 383 5 920
84. message Otherwise it is GPS time 2 When set bit indicates that UTC to GPS time information is current i e IONO UTC time is less than 2 weeks old 3 7 Reserved Reserved Message ID 225 This output message is SiRF proprietary Development Data Message ID 255 Output Rate Receiver generated Example AOA2 Start Sequence and Payload Length FF Payload BOB3 Message Checksum and End Sequence Table 3 76 Development Data Binary Hex ASCII Decimal Name Bytes Scale Example Units Scale Example Message ID 1 FF 255 Data variable Payload length variable 1 Data area consists of at least 1 byte of ASCII text information Note MID 255 is output when SiRF Binary is selected and development data is enabled The data output using MID 255 is essential for SiRF assisted troubleshooting support 3 50 SiRF Binary Protocol Reference Manual September 2004 AdditionalInformation 4 TricklePower Operation in DGPS Mode GPS Week Reporting When in TricklePower mode serial port DGPS corrections are supported The CPU goes into sleep mode but will wake up in response to any interrupt This includes UARTs Messages received during the TricklePower off period are buffered and processed when the receiver awakens for the next TricklePower cycle The GPS week number represents the number of weeks that have elapsed since the week of
85. nd update rate on times greater than 600 ms are not allowed Push to Fix In this mode the receiver will turn on every cycle period to perform a system update consisting of an RTC calibration and satellite ephemeris data collection if required 1 a new satellite has become visible as well as all software tasks to support Snap Start in the event of an NMI Non Maskable Interrupt Ephemeris collection time in general takes 18 to 36 seconds If ephemeris data is not required then the system will re calibrate and shut down In either case the amount of time the receiver remains off will be in proportion to how long it stayed on Off period On Period 1 Duty Cycle Duty Cycle The off period has a possible range between 10 and 7200 seconds The default is 1800 seconds Push to Fix cycle period is set using message MID 167 Poll Navigation Parameters Message ID 152 Table 2 39 contains the input values for the following example Example Poll receiver for current navigation parameters A0A20002 Start Sequence and Payload Length 9800 Payload 0098B0B3 Message Checksum and End Sequence Input Messages 2 21 II Table 2 39 Poll Receiver for Navigation Parameters Binary Hex Name Bytes Scale Example Units Description Message ID 1 98 Decimal 152 Reserved 1 00 Reserved Payload length 2 bytes Note Returned message will be MID 19 See Navigation Paramete
86. nization 3 Bit 2 1 Value 0 0 Not Aligned Value 0 1 Consistent Code Epoch Alignment Value 1 0 Consistent Data Bit Alignment Value 1 1 No Millisecond Errors CNo 1 This array of Carrier To Noise Ratios is the average signal power in dB Hz for each of the 100 millisecond intervals in the previous second or last epoch for each particular SV being track in a channel First 100 millisecond measurement C No 2 Second 100 millisecond measurement C No 3 Third 100 millisecond measurement C No 4 Fourth 100 millisecond measurement C No 5 Fifth 100 millisecond measurement C No 6 Sixth 100 millisecond measurement C No 7 Seventh 100 millisecond measurement C No 8 Eighth 100 millisecond measurement C No 9 Ninth 100 millisecond measurement C No 10 Tenth 100 millisecond measurement Delta Range Interval This is the delta pseudo range measurement interval for the preceding second A value of zero indicated that the receiver has an AFC measurement or no measurement in the Carrier Frequency field for a particular channel Mean Delta Range Time This is the mean calculated time of the delta pseudo range interval in milliseconds measured from the end of the interval backwards Extrapolation Time This is the pseudo range extrapolation time in milliseconds to reach the common Time tag value Phase Error Count This is the count of the phase errors greater than 60 Degrees measured in the preceding second as defined for a par
87. ntry Millisecond errors Millisecond errors caused by overruns Evror ID 8195 0x2003 Code Define Name Error ID Description Example Errid MI MemoryTestFailed Failure of hardware memory test Does not appear to be active because MemStatus variable never gets set to a non zero value in the code A0A20005 Start Sequence and Payload Length 0A20030000 Payload 002DB0B3 Message Checksum and End Sequence Table 3 42 Error ID 8195 Message Binary Hex ASCII Decimal Name Bytes Scale Example Units Scale Example Message ID 0A 10 Error ID 2 2003 8195 Count 2 0000 0 Payload length 5 bytes Table 3 43 Error ID 8195 Message Description Name Description Message ID Message ID number Error ID Error ID see Error ID description above Count Number of 32 bit data in message SiRF Binary Protocol Reference Manual September 2004 Qo II Command Acknowledgment Message ID 11 Output Rate Response to successful input message This is a successful almanac request message ID 0x92 example A0A20002 Start Sequence and Payload Length 0B92 Payload 009DBOB3 Message Checksum and End Sequence Table 3 44 Command Acknowledgment Binary Hex ASCII Decimal Name Bytes Scale Example Units Scale Example Message ID 1 0x0B 11 ACK ID 1 0x92 146 Payload length
88. put Messages Note This message is used in GSW2 SiRFDRive and GSW3 software For SiRFLoc and SiRFXTrac software refer to MID 20 Output Rate Variable set by the period as defined in message ID 150 Example A0A20033 Start Sequence and Payload Length 2 0001001 00023 70001 002900000000000601 600051 0 000 41 40000000000000 0000000000000000000000000000000 Payload 0316B0B3 Message Checksum and End Sequence Table 3 70 Test Mode 3 Message Binary Hex ASCII Decimal Name Bytes Scale Example Units Scale Example Message ID 1 2E 46 SV ID 2 0001 1 3 41 3 42 Table 3 70 Test Mode 3 Message Continued Binary Hex ASCII Decimal Name Bytes Scale Example Units Scale Example Period 2 001E sec 30 Bit Sync Time 2 0002 sec 2 Bit Count 2 3F70 13680 Poor Status 2 001F 31 Good Status 2 0D29 3369 Parity Error Count 2 0000 0 Lost VCO Count 2 0000 0 Frame Sync Time 2 0006 sec 6 C No Mean 2 10 01C6 10 45 4 C No Sigma 2 10 0005 10 0 5 Clock Drift Rate 2 10 1BOE Hz 10 692 6 Clock Drift 4 10 000EB41A Hz 10 96361 0 Bad 1Khz Bit Count 2 0000 Abs I20ms 4 00000000 Abs QIms 4 00000000 Reserved 4 00000000 Reserved 4 00000000 Reserved 4 00000000 Payload length 51 bytes Table 3 71 Detailed Description of Test Mode 3 Message Name Descr
89. quence and Payload Length 810201010001010105010101000100010001000100012580 Payload 013AB0OB3 Message Checksum and End Sequence Table 2 8 Switch To NMEA Protocol Name Bytes Example Units Description Message ID 1 0x81 Decimal 129 Mode 1 0 02 See Table 2 9 GGA Message 1 0x01 sec See NMEA Protocol Reference Manual for format Checksum 1 0 01 Send checksum with GGA message GLL Message 1 0x00 sec See NMEA Protocol Reference Manual for format Checksum 1 0x01 GSA Message 1 0x01 sec See NMEA Protocol Reference Manual for format Checksum 1 0x01 GSV Message 1 0x05 sec See NMEA Protocol Reference Manual for format Checksum 1 0x01 RMC Message 1 0x01 sec See NMEA Protocol Reference Manual for format Checksum 1 0x01 VTG Message 1 0x00 sec See NMEA Protocol Reference Manual for format Checksum 1 0x01 MSS Message 1 0x00 sec Output rate for MSS message Checksum 1 0x01 Unused Field 1 0x00 Unused Field 1 0x00 ZDA Message 1 0x00 sec See NMEA Protocol Reference Manual for format Checksum 1 0x01 Unused Field 1 0x00 Unused Field 1 0x00 Baud Rate 2 0x2580 38400 19200 9600 4800 or 2400 Payload length 24 bytes 1 A value of 0x00 implies NOT to send message otherwise data is sent at message every X seconds requested e g to request a message to be sent every 5 seconds request the message using a value of 0x05 Maximum r
90. r the following example Sets the receiver to track SV ID 6 on all channels and to collect test mode performance statistics for 30 seconds Example A0A20007 Start Sequence and Payload Length 961E510006001E Payload 0129B0B3 Message Checksum and End Sequence Table 2 35 Switch Operating Modes Binary Hex Name Bytes Scale Example Units Description Message ID 1 96 Decimal 150 Mode 2 1 51 0 normal 1E51 Testmodel 1 52 2 1E53 Testmode3 1E54 Testmode4 SvID 2 0006 Satellite to Track Period 2 001E seconds Duration of Track Payload length 7 bytes Input Messages 2 19 Set TricklePower Parameters Message ID 151 2 20 Table 2 36 contains the input values for the following example Sets the receiver into low power modes Example Set receiver into TricklePower at 1 Hz update and 200 ms on time A0A20009 Start Sequence and Payload Length 97000000C8000000C8 Payload 0227B0B3 Message Checksum and End Sequence Table 2 36 Set Trickle Power Parameters Binary Hex Name Bytes Scale Example Units Description Message ID 1 97 Decimal 151 Push to Fix Mode 2 0000 ON 1 OFF 0 Duty Cycle 2 10 00C8 Time ON A duty cycle of 1000 100 means continuous operation On Time 4 000000C8 msec range 200 900 msec Payload length 9 bytes 1 On time of 700 800 or 900 ms is invalid if an update rate of 1 se
91. re 07 7 Clock Status Current clock status 08 8 50 BPS Subframe Data Standard ICD format 09 9 Throughput Navigation complete data 0 10 Error ID Error coding for message failure 0B 11 Command Acknowledgment Successful request 0C 12 Command NAcknowledgment Unsuccessful request 0 13 Visible List Auto Output 14 Almanac Data Response to poll OF 15 Ephemeris Data Response to poll 10 16 Test Mode 1 For use with SiRFtest Test Mode 1 11 17 Differential Corrections Received from DGPS broadcast 12 18 OkToSend CPU ON OFF TricklePower 13 19 s Navigation Parameters Response to Poll 14 20 Test Mode 2 3 4 Test Mode 2 3 or 4 test data IC 28 Nav Lib Measurement Data Measurement data ID 29 Nav Lib DGPS Data Differential GPS data 1E 30 Nav Lib SV State Data Satellite state data IF 31 Nav Lib Initialization Data Initialization data 29 41 Geodetic Navigation Data Geodetic navigation information 2D 45 Raw DR Data Raw DR data from ADC 2E 46 Test Mode 3 Additional test data Test Mode 3 30 48 SiRFDRive specific Class of Output The MID is partitioned into messages Messages identified by Sub IDs Refer to Table 3 2 32 50 SBAS Parameters SBAS operating parameters 34 52 PPS Time Message Time message for PPS 3 1 3 2 Table 3 1 SiRF Binary Messages Output Message List Continued Hex Decimal Name Description El 225 SIRF internal message Reserved FF 255 Development Data Var
92. rs Name Bytes Scale Units Description MID 1 0xAC Sub ID 1 0 04 Base speed scale factor 1 ticks m Base gyro bias 2 104 mV Base gyro scale factor 2 102 mV deg s Payload length 7 bytes Poll DR Gyro Factory Calibration Message ID 172 Sub ID 6 Poll the DR gyro s factory calibration status Name Bytes Description MID 1 AC Sub ID 1 0x06 Payload length 2 bytes Poll DR Sensors Parameters Message ID 172 Sub ID 7 Poll the DR sensors parameters Name Bytes Description MID 1 AC Sub ID 1 0x07 Payload length 2 bytes Input Messages 2 27 p Reserved Message ID 228 This input message is SiRF proprietary 2 28 SiRF Binary Protocol Reference Manual September 2004 Output Messages The following chapter provides full information about available SiRF Binary output messages For each message a full definition and example is provided Table 3 1 SiRF Binary Messages Output Message List Hex Decimal Name Description 01 1 Reference Navigation Data Not Implemented 02 2 Measured Navigation Data Position velocity and time 03 3 True Tracker Data Not Implemented 04 4 Measured Tracking Data Satellite and C No information 05 5 Raw Track Data Not supported by SiRFstarII 06 6 SW Version Receiver softwa
93. rs Response to Poll Message ID 19 on page 3 26 Set UART Configuration Message ID 165 Table 2 40 contains the input values for the following example Example Set port 0 to NMEA with 9600 baud 8 data bits 1 stop bit no parity Set port 1 to SiRF binary with 57600 baud 8 data bits 1 stop bit no parity Do not configure ports 2 and 3 Example A0A20031 Start Sequence and Payload Length A50001010000258008010000000100000000E1000801000000FF050500000000000 0000000FF0505000000000000000000 Payload 0452B0B3 Message Checksum and End Sequence Table 2 40 Set UART Configuration Binary Hex Name Bytes Scale Example Units Description Message ID 1 A5 Decimal 165 Port 1 00 For UART 0 In Protocol 1 01 For UART 0 Out Protocol 1 01 For UART 0 Set to in protocol Baud Rate 4 00002580 For UART 0 Data Bits 1 08 For UART 0 Stop Bits 1 01 For UART 0 Parity 1 00 For UART 0 Reserved 1 00 For UART 0 Reserved 1 00 For UART 0 Port 1 01 For UART 1 In Protocol 1 00 For UART 1 Out Protocol 1 00 For UART 1 Baud Rate 4 0000E100 For UART 1 Data Bits 1 08 For UART 1 Stop Bits 1 01 For UART 1 Parity 1 00 For UART 1 Reserved 1 00 For UART 1 Reserved 1 00 For UART 1 Port 1 FF For UART 2 2 22 SiRF Binary Protocol Reference Manual September 2004 II Table 2 40 Set UART Configuration Continued
94. ry Protocol Reference Manual September 2004 Qo II Reference Navigation Data Message ID 1 Table 3 3 Supported output messages Continued SiRF Software Options Message ID GSW2 SiRFDRive SiRFXTrac SiRFLoc GSW3 43 No No No No Yes 45 No Yes No No No 46 Yes Yes No No Test Mode 3 4 48 No Yes No No No 50 2 3 or above Yes No No No 52 2 3 2 or above No No No No 55 No No No No Yes reserved 225 No No No No Yes reserved 255 Yes Yes Yes Yes Yes This message is defined as Reference Navigation data but has not been implemented Measure Navigation Data Out Message ID 2 Output Messages Output Rate 1 Hz Table 3 4 lists the message data format for the measured navigation data Example A0A20029 Start Sequence and Payload Length O02FFD6F78CFFBE536E003A C004000000030001040A00036B039780E3 0612190E160F04000000000000 Payload 09BBBOB3 Message Checksum and End Sequence Table 3 4 Measured Navigation Data Out Message Data Format Binary Hex ASCII Decimal Name Bytes Scale Example Units Scale Example Message ID 1 02 2 X position 4 FFD6F78C m 2689140 Y position 4 FFBE536E m 4304018 Z position 4 003AC004 m 3850244 X velocity 2 8 0000 m sec Vx 8 0 Y velocity 2 8 0003 m sec Vy 8 0 375 Z velocity 2 8 0001 m sec Vz 8 0 125 Mode 1 1 04 Bitmap 4
95. s 100 0000937F sec s 100 37759 Chans 1 0C 12 Ist SVid 1 OE 14 Azimuth 1 Az 2 3 AB deg 2 3 256 5 Elev 1 EI 2 46 deg 2 35 State 2 003F Bitmap 0 x 3F C No 1 1 1A dB Hz 26 C No 2 1 1 dB Hz 30 C No 3 1 1 dB Hz 29 C No 4 1 1D dB Hz 29 C No 5 1 19 dB Hz 25 C No 6 1 1 dB Hz 29 C No 7 1 1 dB Hz 26 C No 8 1 1 dB Hz 26 C No 9 1 1D dB Hz 29 C No 10 1 IF dB Hz 31 2nd SVid 1 1 29 Azimuth 1 Az 2 3 59 deg 2 3 89 Elev 1 EI 2 42 deg 2 66 State 2 3F Bitmap 63 C No 1 1 1A dB Hz 26 C No 2 1 1A dB Hz 63 SVid Azimuth Elevation State and C No 1 10 values are repeated for each of the 12 channels Payload length 188 bytes 1 GPS week number is reported modulo 1024 ten LSBs only 2 For further information see Table 3 8 for state values for each channel Table 3 8 State Values for Each Channel Bit Description when bit is set to 1 0x0001 Acquisition re acquisition has been completed successfully 0x0002 The integrated carrier phase is valid 0x0004 Bit synchronization has been completed 0x0008 Subframe synchronization has been completed 0x0010 Carrier pullin has been completed 0x0020 Code has been locked 0x0040 Satellite acquisition has failed 0x0080 Ephemeris data is available Raw Tracker Data Out Message ID 5 This message is not supported by the SiRFstarII architecture Output Messages 3 7 3 Software Version String Response to Poll Message ID 6 Output Rate
96. s Yes No Yes Yes 129 Yes Yes Yes No Yes 130 Yes Yes No No Yes 131 No No No No Yes 132 Yes Yes Yes Yes No 133 Yes Yes No No No 134 Yes Yes Yes Yes Yes SiRF Binary Protocol Reference Manual September 2004 II Table 2 3 Supported Input Messages Continued SiRF Software Options Message ID GSW2 SiRFDRive SiRFXTrac SiRFLoc GSW3 135 No No No No Yes 136 Yes Yes Yes Yes Yes 137 Yes Yes Yes Yes Yes 138 Yes Yes Yes Yes No 139 Yes Yes Yes Yes Yes 140 Yes Yes Yes Yes Yes 141 No No No No No 142 No No No No No 143 Yes Yes Yes Yes Yes 144 Yes Yes Yes Yes Yes 145 Yes Yes No No No 146 Yes Yes Yes Yes Yes 147 Yes Yes Yes Yes Yes 148 Yes Yes Yes No No 149 Yes Yes No Yes Yes 150 Yes Yes Yes Yes Yes 151 Yes Yes No No No 152 Yes Yes Yes Yes Yes 165 Yes Yes Yes No Yes 166 Yes Yes Yes Yes Yes 167 Yes Yes No No Yes 168 Yes Yes Yes Yes Yes 170 2 3 or above Yes No No Yes 172 No Yes No No Yes 175 No No No No Yes 182 No No No No No 228 No No No No Yes reserved Advanced Power Management Message ID 53 Used to implement Advanced Power Management APM APM will not engage until all information is received Example The following example sets the receiver to operate in APM mode with 0 cycles before sleep continuous operation 20 seconds between fixes 50 duty cycle a time between fixes
97. sage Checksum and End Sequence Table 2 18 Set Main Serial Port Binary Hex Name Bytes Scale Example Units Description Message ID 1 86 Decimal 134 Baud 4 00002580 115 2k 57 6k 38 4k 19 2k 9600 4800 2400 1200 Data Bits 1 08 8 Stop Bit 1 01 1 1 Stop Bit Parity 1 00 None 0 Odd 1 Even 2 Pad 1 00 Reserved Payload length 9 bytes Switch Protocol Message ID 135 This message is obsolete and is no longer used or supported Mode Control Message ID 136 Table 2 19 contains the input values for the following example 2 12 3D Mode Always Alt Constraining Yes Degraded Mode clock then direction TBD 1 DR Mode Yes Altitude 0 Alt Hold Mode Auto Alt Source Last Computed Coast Time Out 20 Degraded Time Out 5 DR Time Out 2 Track Smoothing Yes Example A0A2000E Start Sequence and Payload Length 8800000 100000000000000050201 Payload 0091B0B3 Message Checksum and End Sequence Table 2 19 Mode Control Binary Hex Name Bytes Scale Example Units Description Message ID 1 88 Decimal 136 TBD 2 0000 Reserved Degraded Mode 1 01 See Table 2 20 TBD 2 0000 Reserved Altitude 2 0000 meters User specified altitude range 1 000 to 10 000 Alt Hold Mode 1 00 See Table 2 21 Alt Hold Source 1 00 0 Use last computed altitude 1 Use user input altitude TBD 1 00 Reserved Degraded T
98. scaling 102 actual value 23 45 Queue Command Parameters Message ID 43 3 40 Output Rate Response to poll This message outputs Packet Send command parameters under SiRF Binary Protocol Example with MID SET STAT NAV message A0A20003 Start Sequence and Payload Length 438F00 Payload 00D2B0B3 Message Checksum and End Sequence Name Bytes Scale Units Description MID 1 0x2B Polled Msg ID 1 0x8F example Data Variable Depends on the polled message ID length Payload length Variable length bytes 3 bytes in the example SiRF Binary Protocol Reference Manual September 2004 DR Raw Data Message ID 45 1 Hz DR raw data from ADC output after collection of data Name Bytes Scale Units Description MID 1 0 30 Ist 100 ms time tag Ist 100 ms ADC2 average measurement Reserved 1st 100 ms odometer count NPN 15 100 ms GPIO input states m Bit 0 reverse 2nd 100 ms time tag 2nd 100 ms ADC2 average measurement Reserved 2nd 100 ms odometer count N N 2nd 100 ms GPIO input states Bit 0 reverse 10th 100 ms time tag 10th 100 ms ADC2 average measurement Reserved 10th 100 ms odometer count 10th 100 15 GPIO input states Bit 0 reverse Payload length 111 bytes Test Mode 3 4 Message ID 46 Out
99. t Count Errors in Ims post correlation I count values SiRF Binary Protocol Reference Manual September 2004 Qo II Output Messages Test Mode 4 Table 3 60 Detailed Description of Test Mode 3 Message Continued Name Description Abs I20ms Absolute value of the 20ms coherent sums of the I count over the duration of the test period Abs QIms Absolute value of the lms Q count over the duration of the test period This is supported by SiRFLoc and SiRFXTrac only Table 3 61 Test Mode 4 Message Binary Hex ASCII Decimal Name Bytes Scale Example Units Scale Example Message ID 1 14 20 Test Mode 1 04 4 Message Variant 1 01 1 SV ID 2 0001 1 Period 2 001E sec 30 Bit Sync Time 2 0002 sec 2 C No Mean 2 10 01C6 10 45 4 C No Sigma 2 10 0005 10 0 5 Clock Drift Change 2 10 1BOE Hz 10 692 6 Clock Drift 4 10 OOOEB41A Hz 10 96361 0 I Count Errors 2 0003 3 Abs I20ms 4 0003AB88 240520 Abs QIms 4 0000AFF0 45040 Payload length 29 bytes Table 3 62 Detailed Description of Test Mode 4 Message Name Description Message I D Message I D number Test Mode 3 Testmode 3 4 Testmode 4 Message Variant The variant of the message variant change indicates possible change in number of fields or field description SV ID The number of the satellite being tracked Period The total duration of t
100. ters Poll for parameters 0x80 Receiver initialized amp associated params 0x85 DGPS source and beacon receiver info 0x88 Navigation mode configuration 0x89 DOP mask selection and parameters 0x8A DGPS mode selection and timeout values Ox8B Elevation tracking and navigation masks 0x8C Power tracking and navigation masks Ox8F Static navigation configuration 0x97 Low power parameters AA 170 Set SBAS Parameters SBAS configuration parameters AC 172 SSiRFDRive specific Class of The MID is partitioned into messages identified Input Messages by Sub IDs Refer to Table 2 2 B6 182 Set UART Configuration Obsolete E4 228 SiRF internal message Reserved Table 2 2 Sub IDs for SiRFDRive input MID 172 0xAC Sub ID Message 1 Initialise GPS DR Navigation 2 Set GPS DR Navigation Mode 3 Set DR Gyro Factory Calibration 4 Set DR Sensors Parameters 5 Poll DR Validity not implemented 6 Poll DR Gyro Factory Calibration 7 Poll DR Sensors Parameters As the SiRF Binary protocol is evolving standard along with continued development of SiRF software and GPS solutions not all SiRF Binary messages are supported by all SiRF GPS solutions Table 2 3 identifies the supported input messages for each SiRF architecture Table 2 3 Supported Input Messages SiRF Software Options Message ID GSW2 SiRFDRive SiRFXTrac SiRFLoc GSW3 53 No No Yes No No 128 Ye
101. the satellite is tracked Bit Sync Time The time it takes for channel 0 to achieve the status of 37 Bit Count The total number of data bits that the receiver is able to demodulate during the test period As an example for a 20 second test period the total number of bits that can be demodulated by the receiver is 12000 SOBPS x 20sec x 12 channels Poor Status This value is derived from phase accumulation time Phase accumulation is the amount of time a receiver maintains phase lock Every 100msec of loss of phase lock equates to 1 poor status count As an example the total number of status counts for a 60 second period is 7200 12 channels x 60 sec x 10 sec Good Status This value is derived from phase accumulation time Phase accumulation is the amount of time a receiver maintains phase lock Every 100msec of phase lock equates to 1 good status count Parity Error Count The number of word parity errors This occurs when the parity of the transmitted word does not match the receiver s computed parity Lost VCO Count The number of 1 msec VCO lost lock was detected This occurs when the PLL in the RFIC loses lock A significant jump in crystal frequency and or phase causes a VCO lost lock Differential Corrections Message ID 17 Message ID 17 provides the RTCM data received from a DGPS source The data is sent as a SiRF Binary message and is based on the RTCM SC 104 format To interpret the data s
102. ticular channel Low Power Count This is the low power measurements for signals less than 28 dB Hz in the preceding second as defined for a particular channel SiRF Binary Protocol Reference Manual September 2004 Qo II 1 Carrier frequency may be interpreted as the measured Doppler on the received signal The value is reported in metres per second but can be converted to hertz using the Doppler equation Doppler frequency Carrier frequency Velocity Speed of light where Doppler freq is in Hz Carrier freq 1 575 420 000 Hz Velocity is in m s Speed of light 299 792 458 m s Note that the computed Doppler frequency will contain a bias equal to the current clock drift as reported in message 107 This bias nominally 96 250 kHz is equivalent to over 18 km s Navigation Library DGPS Data Message ID 29 Output Rate Every measurement cycle full power continuous 1Hz Example A0A2001A Start Sequence and Payload Length 1D000F00B501 BFC97C673CAAAAAB3FBFFE1240A0000040A00000 Payload 0956B0B3 Message Checksum and End Sequence Table 3 66 Measurement Data Binary Hex ASCII Decimal Name Bytes Scale Example Units Scale Example Message ID 1 1D 29 Satellite ID 2 000F 15 IOD 2 00B5 181 Source 1 01 1 Pseudorange Correction 4 BFC97C67 m 1 574109 Pseudorange rate Correction 4 3CAAAAAB m sec 0 020833 Correction Age 4 3FBFFE12 sec 1 49994
103. tion least squares 3 D point solution least squares YD CN WwW NR Dead Reckoning solution no satellites TPMODE TricklePower mode Full power position TricklePower position ALTMODE Altitude mode No altitude hold applied Holding of altitude from KF Holding of altitude from user input Always hold altitude from user input DOPMASK DOP mask status DOP mask not exceeded DOP mask exceeded DGPS DGPS status No differential corrections applied Differential corrections applied SiRF Binary Protocol Reference Manual September 2004 3 1 Format In standard software Dead Rechoning solution is computed by taking the last valid position and velocity and projecting the position using the velocity and elapsed time Note Mode 1 of Message I D 2 is a bit mapped byte with five sub values in it The first table above shows the location of the sub values while the table directly above shows the interpretation of each sub value Output Messages 3 5 II Qo Table 3 6 Mode 2 Bit Description 0 1 sensor DR in use 0 velocity DR if PMODE sub value in Mode 1 7 else check Bits 6 and 7 for DR error status If set solution is validated 5 or more SVs used If set velocity DR timeout If set solution edited by UI e g DOP Mask exceeded If set velocity is invalid Q Bl Ww Alti
104. titude from user input Bit 6 ON DOP exceeded Bit 7 ON DGPS corrections applied Bit 8 DR type 1 sensor DR 0 velocity DR if Bits 0 2 111 else check Bits 14 15 for DR error status Bit 9 ON navigation solution validated Bit 10 ON velocity DR timeout Bit 11 ON solution edited by user input Bit 12 ON invalid velocity Bit 13 ON altitude hold disabled Bits 14 15 sensor DR error status 00 GPS only navigation 01 DR in calibration 10 DR sensor errors 11 DR in test Extended Week Number 2 GPS week number week 0 started 1980 01 06 This value is extended beyond the 10 bit value reported by the SVs TOW 4 GPS time of week in seconds x 10 UTC Year 2 UTC time and date Seconds reported as integer UTC Month 1 milliseconds only UTC Day 2 UTC Hour 2 UTC Minute 2 UTC Second 2 Satellite ID List 4 Bit map of SVs used in solution Bit 0 SV 1 Bit 31 SV 32 A bit set ON means the corresponding SV was used in the solution Latitude 4 In degrees North x 107 Longitude 4 In degrees East x 107 Altitude from Ellipsoid 4 In meters x 107 Altitude from MSL 4 In meters x 107 Map Datum 1 See footnote Speed Over Ground SOG 2 In m s x 102 Course Over Ground COG True 2 In degrees from true north x 102 Magnetic Variation 2 Not implemented 3 39 Table 3 69 Geodetic Navigation Data Continued
105. tude hold mode 0 enabled 1 disabled 3 D fixes only 7 6 Sensor DR error status 00 GPS only navigation 01 DR in calibration 10 DR sensor errors 11 DR in test mode 1 From an unvalidated state a 5 SV fix must be achieved to become a validated position If the receiver continues to navigate in a degraded mode less than 4 SVs the validated status will remain If navigation is lost completely an unvalidated statuswill result Note Mode 2 of MID 2 is used to define the Fix field of the Measured Navigation Message View It should be used only as an indication of the current fix status of the navigation solution and not as a measurement of TTFF True Tracker Data Message ID 3 This message is defined as True Tracker data but has not been implemented Measured Tracker Data Out Message ID 4 Output Rate 1 Hz Table 3 7 lists the message data format for the measured tracker data Example A0A200BC Start Sequence and Payload Length 04036C0000937FOCOEAB46003F1A1E1D1D191D1A1A1D1F1D59423F1A1A Payload B0B3 Message Checksum and End Sequence 3 6 SiRF Binary Protocol Reference Manual September 2004 Qo II Table 3 7 Measured Tracker Data Out Binary Hex ASCII Decimal Name Bytes Scale Example Units Scale Example Message ID 1 04 4 GPS Week 2 036C 876 GPS TOW 4
106. utput Rate 1 Hz Example A0A20009 Start Sequence and Payload Length 09003B0011001601E5 Payload 0151B0B3 Message Checksum and End Sequence Table 3 12 CPU Throughput Binary Hex ASCII Decimal Name Bytes Scale Example Units Scale Example Message ID 1 09 9 SegStatMax 2 186 003B ms 186 0 3172 SegStatLat 2 186 10011 ms 186 0 0914 AveTrkTime 2 186 0016 ms 186 0 1183 Last Millisecond 2 01 5 ms 485 Payload length 9 bytes Error ID Data Message ID 10 Output Rate As errors occur MID 10 messages have a different format from other messages Rather than one fixed format there are serveral formats each designated by an error ID However the format is standardize as indicated in Table 3 13 The specific format of each error ID message follows Table 3 13 Message ID 10 Overall Format Name Bytes Description Message ID 1 Message ID number 10 Error ID 2 Sub message type Count 2 Count of number of 4 byte values that follow Data n 4 n Actual data for the message n is equal to Count Error ID 2 Code Define Name Errld CS SVParity Error ID Description Satellite subframe failed parity check Example A0A2000D Start Sequence and Payload Length 0A000200020000000100000002 Payload 0011B0B3 Message Checksum and End Sequence 3 10 SiRF Binary Protocol Reference Manual September 2004 Qo II Table 3
107. x3F C No Mean Calculated average of reported C No by all 12 channels during the test period C No Sigma Calculated sigma of reported C No by all 12 channels during the test period SiRF Binary Protocol Reference Manual September 2004 Table 3 71 Detailed Description of Test Mode 3 Message Continued Name Description Clock Drift Rate Difference in clock drift from start and end of the test period Clock Drift The measured internal clock drift Bad 1Khz Bit Count Errors in Ims post correlation I count values Abs I20ms Absolute value of the 20 ms coherent sums of the I count over the duration of the test period Abs QIms Absolute value of the 1ms Q count over the duration of the test period DR Navigation Status Message ID 48 Sub ID 1 DR navigation status information output on every navigation cycle Name Bytes Description MID 1 0 30 Sub ID 1 0x01 DR navigation 1 0 00 valid DR navigation else Bit 0 ON GPS only navigation required Bit 1 ON speed not zero at start up Bit 2 ON invalid DR position Bit 3 ON invalid DR heading Bit 4 ON invalid DR calibration Bit 5 ON invalid DR data Bit 6 ON system in Cold Start Bit 7 Reserved DR data 0x0000 valid DR data else Bit 0 ON DR gyro subsystem not operational Bit 1 ON DR speed subsystem not operational Bit 2 ON DR measurement t
108. y imposed 0 01 TIME MAX has higher priority 0x02 HORI ERR MAX has higher priority Bits 0 1 Time Duty Cycle 0x00 no priority imposed 0x01 time between two consecutive fixes has priority 0x02 power duty cycle has higher priority Table 3 56 Horizontal Vertical Error Value Position Error 0x00 meter 0x01 5 meter 0x02 lt 10 meter 0x03 20 meter 0x04 40 meter 0x05 80 meter 0x06 160 meter 0x07 No Maximum disabled 0x08 OxFF Reserved e range 1 20 scaled to 5 1 5 2 109 3 27 3 Test Mode 2 3 4 Message ID 20 3 28 Test Mode 2 The definition of MID 20 is different depending on the version and type of software being used For GSW2 or SiRFDRive MID 20 is used for as Test Mode 2 only For SiRFLoc or SiRF XTrac MID is used for either Test Mode 2 Test Mode 3 or Test Mode 4 For GSW2 software refer to MID 46 for Test Mode 3 and Test Mode 4 results Output Rate variable set by the period as defined in message ID 150 This is supported by either GSW2 SiRFDRive SiRFLoc or SiRFXTrac Test Mode 2 requires approximately 1 5 minutes of data collection before sufficient data is available Example A0A20033 Start Sequence and Payload Length 14000100 1E00023F70001F0D2900000000000601C60005 1 BOEQ00EB41A0000000000000 0000000000000000000000000000000 Payload 0316B0B3 Message Checksum and End Sequence Table 3 57 Test Mode 2 Message
109. yload length 15 bytes Poll Command Parameters Message ID 168 This command queries the receiver to send specific response messages for one of the following messages 0x80 0x85 0x88 0x89 0x8A Ox8B 0x8C Ox8F 0x97 and OxAA see Table 2 1 message ID 168 Table 2 43 contains the input values for the following example 2 24 SiRF Binary Protocol Reference Manual September 2004 2 Query the receiver for current settings of low power parameters set by MID 0x97 Example A0A20002 Start Sequence and Payload Length A897 Payload 013FB0B3 Message Checksum and End Sequence Table 2 43 Poll Command Parameters Binary Hex Name Bytes Scale Example Units Description Message ID 1 A8 Decimal 168 Poll Msg ID 1 97 Requesting Msg ID 0x97 Payload length 2 bytes 1 Valid message IDs are 0x80 0x85 0x88 0x89 0x8A Ox8B 0x8C Ox8F 0x97 and 0xAA Set SBAS Parameters Message ID 170 This command allows the user to set the SBAS parameters Table 2 44 contains the input values for the following example Set automatic SBAS search and testing operating mode Example A0A20006 Start Sequence and Payload Length AA0000010000 Payload 01B8BOB3 Message Checksum and End Sequence Table 2 44 Set SBAS Parameters Binary Hex Name Bytes Scale Example Units Description Message ID 1 AA decimal 170 SBAS PRN 1 00 0 Auto mode PRN 120 138 Exclusive SBAS
110. ytes Scale Example Units Description Message ID 1 84 Decimal 132 Control 1 00 Not used Payload length 2 bytes DGPS Source Message ID 133 This command allows the user to select the source for DGPS corrections Options available are External R TCM Data any serial port SBAS subject to SBAS satellite availability Internal DGPS beacon receiver Example 1 Set the DGPS source to External RTCM Data A0A200007 Start Sequence and Payload Length 85020000000000 Payload Input Messages 0087B0B3 Checksum and End Sequence Table 2 14 DGPS Source Selection Example 1 Name Bytes Scale Hex Units Decimal Description Message ID 1 85 133 Message Identification DGPS Source 1 00 0 See Table 2 16 Internal Beacon Frequency 4 00000000 2 0 See Table 2 17 Internal Beacon Bit Rate 1 0 BPS 0 See Table 2 17 Payload length 7 bytes Example 2 Set the DGPS source to Internal DGPS Beacon Receiver Search Frequency 310000 Bit Rate 200 A0A200007 Start Sequence and Payload Length 85030004BAF0C802 Payload 02FEBOB3 Checksum and End Sequence SiRF Binary Protocol Reference Manual September 2004 Table 2 15 DGPS Source Selection Example 2 Input Messages Name Bytes Scale Hex Units Decimal Description Message I D 1 85 133 Message Identification DGPS Source 1 03 3 See Table 2 16

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