Operational Manual
RGM-3000/REB-3000
Operational Manual
Version 1.3
2002/5/29
This document contains information highly confidential to RoyalTek Company LTD (RoyalTek). It
is provided for the sole purpose of the business discussions between supplier and RoyalTek and
is covered under the terms of the applicable Non-Disclosure Agreements. Disclosure of this
information to other parties is prohibited without the written consent of RoyalTek.
Prepared by
RoyalTek Company LTD.
A Company of Royal Group
1071, Chung Cheng Rd., Suite 9F-1
Tao Yuan City, Taiwan, R.O.C.
TEL: 886-3-3569666
FAX: 886-3-3560900
E-Mail: [email protected]
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RoyalTek RGM-3000/REB-3000
GPS Module Operational Manual)
Set Main Serial Port-Message I.D. 134............................................................................................24
Mode control – Message I.D .136 ....................................................................................................24
DOP Mask Control – Message I.D. 137...........................................................................................25
DGPS Control – Message I.D.138 ...................................................................................................25
Elevation Mask – Message I.D.139..................................................................................................26
Power Mask – Message I.D.140......................................................................................................26
Editing Residual – Message I.D.141................................................................................................27
Steady State Detection – Message I.D.142 .....................................................................................27
Static Navigation – Message I.D.144...............................................................................................27
Almanac – Message I.D.146............................................................................................................27
Ephemeris Message I.D.147............................................................................................................28
Switch To SiRF Protocol ..................................................................................................................28
Switch Operating Modes - Message I.D. 150...................................................................................28
Set Trickle Power Parameters - Message I.D. 151 ..........................................................................28
Computation of Duty Cycle and On Time.........................................................................................29
Push-to-Fix ......................................................................................................................................30
Poll Navigation Parameters - Message I.D. 152 ..............................................................................30
Set UART Configuration - Message I.D. 165 ...................................................................................30
Set Message Rate - Message I.D. 166 ............................................................................................31
Low Power Acquisition Parameters - Message I.D. 167 ..................................................................32
OUTPUT MESSAGES FOR SIRF BINARY PROTOCOL ...................................................................................32
Measured Tracker Data Out – Message I.D.4..................................................................................34
Raw Tracker Data Out – Message I.D.5 ..........................................................................................35
Calculation of Pseudo-Range Measurements..................................................................................37
Response :Software Version String – Message I.D.6....................................................................37
Response :Clock Status Data – Message I.D.7 ............................................................................38
50BPS Data – Message I.D.8..........................................................................................................38
CPU Throughput – Message I.D.9...................................................................................................39
Command Acknowledgment – Message I.D.11 ...............................................................................39
Command N Acknowledgment – Message I.D. 12...........................................................................39
Visible List – Message I.D.13...........................................................................................................40
Almanac Data – Message I.D.14 .....................................................................................................40
OkToSend - Message I.D. 18...........................................................................................................40
Navigation Parameters (Response to Poll) – Message I.D. 19........................................................41
Navigation Library Measurement Data - Message I.D. 28 ...............................................................42
Navigation Library DGPS Data - Message I.D. 29 ...........................................................................42
Navigation Library SV State Data - Message I.D. 30 .......................................................................43
Navigation Library Initialization Data - Message I.D. 31...................................................................43
2
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RoyalTek RGM-3000/REB-3000
GPS Module Operational Manual)
RoyalTek Navigation Data – Message I.D.100.................................................................................44
Set Ephemeris – Message I.D.254 ..................................................................................................45
Development Data – Message I.D.255 ............................................................................................45
GPS Receiver User’s Tip.................................................................................................................46
3
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RoyalTek RGM-3000/REB-3000
GPS Module Operational Manual)
ꢀ WAAS demodulator
RoyualTek GPS Module:
RGM-3000/REB-3000
Operational Manual
ꢀ Excellent sensitive for urban canyon and
foliage environments.
ꢀ Single satellite positioning.
ꢀ Dual multi path rejection.
ꢀ Data-log capability – At least 1 Mega-bits
memory space will be implement in the
product
Introduction
Product applications
RGM-3000/REB-3000
RGM-3000/REB-3000 is the third generation of
RoyalTek GPS Receiver. RGM-3000(E,M)
consists of active antenna and GPS receiver.
REB-3000(or RGM-3000L) consists of GPS
receiver without active antenna. The GPS
receiver is powered by SiRF Star II technology
and RoyalTek proprietary navigation algorithm
that providing you more stable navigation data.
The miniature design is the best choice to be
embedded in a portable device like PDA,
mobile phone, person locator and vehicle
locator. It supports TricklePower function which
can be enabled by external command for
power saving. The excellent sensitivity of
RGM-3000 gets the great performance when
going though the urban canyon and foliage.
ꢀ Portable IA device for personal navigation/
position commerce (P-Commerce)
ꢀ Automotive applications
ꢀ Personal positioning and navigation
ꢀ Marine navigation
ꢀ Timing application
ꢀ
Extendable I/O capability –
provide programming I/O function and
development tool kit for customer
Technique description
RGM-3000M, RGM-3000E
General information. The RGM-3000 is a
stamp size GPS receiver with an active
antenna. It provides the antenna power
through RF cable. The default DC input of
active antenna is 2.8 ~3.3V. Since it needs 3
satellites or more to do the first position fix.
The suitable view angle of the active antenna
is necessary. It will determine the first time
position update after getting good satellites
geometry. If the satellites are blocked, it may
take time to determine the position. Caution:
Please do not put any metal stuff on the
antenna. It results in GPS receiver getting
nothing. In urban canyon, the fast 0.1 second
re-acquisition capability can make it determine
the position right away through the
Product Features
RGM-3000/REB-3000
ꢀ
OEM product development is fully
supported through applications
engineering and WEB technique
forum.
ꢀ Small form factor.
ꢀ 12 parallel channels
ꢀ 0.1 second re-acquisition time.
ꢀ Enhanced algorithm for navigation stability.
ꢀ NMEA-0183 compliant protocol/custom
protocol.
1
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RoyalTek RGM-3000/REB-3000
GPS Module Operational Manual)
cross-intersection.
versatile antenna connectors:
1) RGM-3000L: with SMA RF cable.
3) REB-3000: with HRS type of antenna
connector (male) which you can connect to
versatile types of antenna.
REB-3000,RGM-3000L
General Information. This is a stamp size GPS
receiver without active antenna. It provides the
external antenna power (2.8DCV ± 5%)
through RF cable. There are 2 models for
Picture
RGM-3000E
2
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RoyalTek RGM-3000/REB-3000
GPS Module Operational Manual)
RGM-3000L
The cable length can be adjusted by
customer’s requirement (standard:10cm)
SMA connector
RGM-3000M
2
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RoyalTek RGM-3000/REB-3000
GPS Module Operational Manual)
REB-3000
RGM-3000/REB-3000 Series System Block Diagram
The RGM-3000/REB-3000 series consists of SiRF star II chipsets technology, RoyalTek LNA and
proprietary software. The system is described as follows.
RGM-3000M/RGM-3000E
Patch ANT
Flash
RS232 port (TTL) x 2
Memory
LNA
Programming I/O port x 7
Control line x 4
SiRF
SAW
Filter
SIRF
GSP2e
GRF2I
3
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RoyalTek RGM-3000/REB-3000
GPS Module Operational Manual)
RGM-3000L/REB-3000
GPS.receiver w/o patch
ANT.
Flash
RS232 port (TTL) x 2
LNA
Memory
SiRF
SAW
Filter
Programming I/O port x 7
Control line x 4
SIRF
GRF2I
GSP2e
4
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RoyalTek RGM-3000/REB-3000
GPS Module Operational Manual)
supplied by RGM-3000/REB-3000 series.
The full run (without trickle power)
maximum current is less than 180mA.
Weight. 30g(RGM-3000),15g(REB-3000)
Environment.
Technique specifications
RGM-3000/REB-3000 series.
Operational Characteristics.
12 Channels
Temperature.
L1, 1575.42MHz.
Operating temperature -40 ~ +85 Degree
(Celsius).
C / A code, 1.023MHz chip rate.
Snap start: 3 seconds, typical
Hot start: 8 seconds, typical
Warm start: 40 seconds, typical
Cold start: 48 seconds, typical
Reacquisition:0.1 second, typical
Navigation update rate: Once per second.
Datum: WGS-84.
Storage temperature: -40 ~ +85 Degree
(Celsius).
Humidity ≦95% noncondensing.
GPS Antenna Specification(RGM-3000E,
RGM-3000M)
Center Frequency: 1575.42±1.023MHz
Bandwidth (-10dB return loss):9MHz min
Gain at Zenith: 3.0dBi Typ
(The above specification is for standard
version software . The specification for ES
version of software may vary.)
Accuracy.
Gain at 10° elevation :-1.0 dBi Typ
Polarization :R.H.C.P
Axial Ratio : 2.0dB max
Position accuracy: 25m CEP without SA
Velocity accuracy:0.1 meters/second
without SA
LNA Specification:(External ANT for
RGM-3000E )
Center Frequency: 1575.42±1.023MHz
Gain : 12dB Typ
DGPS Accuracy.
Position:1 to 5 m, typical
Noise Figure : 1.8dB Typ
Velocity: 0.05 meters/second, typical
Dynamics.
Out Band Attenuation : 7dB min for ±20MHz
20dB min for ±50MHz
Altitude: 18000 meters (60000 feet) Max.
Velocity: 515 meters / second Max.
Acceleration: 4 g. , Max.
30dB min for ±100MHz
Output V.S.W.R
Voltage
2.0dB max
DC 2.8.0±0.5V
12mA max
Power Requirements.
Current
The input voltage is 3.3V±10%, ripple ≦
200mV. The power of active antenna is
5
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GPS Module Operational Manual)
Mechanical Layout
RGM-3000/REB-3000 Mechanical Layout
RGM-3000E
Pin 1
RGM-3000L
6
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GPS Module Operational Manual)
RGM-3000M
REB-3000
7
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GPS Module Operational Manual)
Flexible Flat Circuit & Connectot
8
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RoyalTek RGM-3000/REB-3000
GPS Module Operational Manual)
Hardware interface
RGM-3000/REB-3000.
Pin
NO
Name
I/O
Description
Characteristic
1
2
3
4
5
6
VCC
VCC
TXA
RXA
TXB
RXB
System Power
System Power
DC 3.3V ± 10%
DC 3.3V ± 10%
TTL Level；Voh≧2.4V，Vol≦0.4V；Ioh=Iol=2mA
TTL Level；Vih≧0.7*VCC；Vil≦0.3*VCC
TTL Level；Voh≧2.4V，Vol≦0.4V；Ioh=Iol=2mA
TTL Level；Vih≧0.7*VCC；Vil≦0.3*VCC
O
I
O
I
Navigation Data Output
Serial Data Input
Reserved
RTCM 104 Differential
GPS Input
7
8
TIMEMARK
RESET
O
I
1 Pulse per second time
mark Output
System Reset ， Active Vil≦0.2V，Pulse Width≧1ms
Low
Vil≦0.2V，Pulse Width≧10ms
9
10
BOOTSEL
WAKEUP
I
I
Internal boot，Active High TTL Level；Vih≧0.7*VCC；Vil≦0.3*VCC
Active low wakeup from
the RTC
TTL Level；Voh≧2.4V，Vol≦0.4V；Ioh=Iol=2mA
11
VBAT
External Backup Power
Input
2.1V≦ Vbat ≦3.6V
12 RESERVED
13
14
15
16
17
18
19
GPIO3
GPIO5
GPIO6
GPIO7
GPIO10
GPIO13
GPIO15
I/O General Purpose I/O Pin
I/O General Purpose I/O Pin
I/O General Purpose I/O Pin
I/O General Purpose I/O Pin
I/O General Purpose I/O Pin
I/O General Purpose I/O Pin
I/O General Purpose I/O Pin
TTL Level；
Output：Voh≧2.4V，Vol≦0.4V；Ioh=Iol=2mA
Input：Vih≧0.7*VCC；Vil≦0.3*VCC
TTL Level；
Output：Voh≧2.4V，Vol≦0.4V；Ioh=Iol=2mA
Input：Vih≧0.7*VCC；Vil≦0.3*VCC
TTL Level；
Output：Voh≧2.4V，Vol≦0.4V；Ioh=Iol=2mA
Input：Vih≧0.7*VCC；Vil≦0.3*VCC
TTL Level；
Output：Voh≧2.4V，Vol≦0.4V；Ioh=Iol=2mA
Input：Vih≧0.7*VCC；Vil≦0.3*VCC
TTL Level；
Output：Voh≧2.4V，Vol≦0.4V；Ioh=Iol=2mA
Input：Vih≧0.7*VCC；Vil≦0.3*VCC
TTL Level；
Output：Voh≧2.4V，Vol≦0.4V；Ioh=Iol=2mA
Input：Vih≧0.7*VCC；Vil≦0.3*VCC
TTL Level；
Output：Voh≧2.4V，Vol≦0.4V；Ioh=Iol=2mA
Input：Vih≧0.7*VCC；Vil≦0.3*VCC
20
21
22
GND
GND
GND
System GND
System GND
System GND
9
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GPS Module Operational Manual)
VCC DC Power Input
setup is NMEA Output, 4800bps, 8 data bits,
no parity, 1 stop bit. The default sentences
are GPGGA, GPGSA, GPRMC once per
second and GPGSV once per 5 seconds.
This is the main power supply for the Engine
board. The power range is from 3.3V±10%,
ripple ≤ 200mV. The maximum current of
RGM-3000 is ≤ 200mA.
Please refer to “software interface” for the
GND
detail protocol.
RXA
GND provides the ground for the Engine
board. Connect all grounds.
This is the main receiving channel and is
used to receive software commands to the
Engine board from user written software.
Please refer to “software interface” for the
detail protocol.
VBAT
This is the battery backup supply that
powers the SRAM and RTC when main
power is removed. The input voltage level is
from 2.1V~3.6V. Max current draw is 10 uA
at 3.3volt. Without an external backup
battery or on board battery, engine board will
execute a cold start after every turn on. To
achieve the faster start-up offered by a hot
or warm start, either a backup battery must
be connected or battery installed on board.
TXA
RXB
This is used for DGPS differential input .
BOOTSEL
Pull Bootsel pin high & reset , then it will get
to boot mode.
GPIO
This pin can be programmed to input or
output. For more application, please contact
Royaltek’s sales.
This is the main transmit channel and is
used to output navigation and measurement
data to user written software. The default
Absolute maximum ratings
Parameter
Supply voltage
Output current
Symbol
VCC
Unit
V
mA
Min. Value
Max. Value
3.63
2.97
200
Critical design guide and diagram
1.It is recommanded to attach GNDu plate (30*30MM) below RGM3000M module or the antenna
module of RGM-3000E to increase the intensity of reception . Please refers to “Design Layout
Diagram “ .
2.During design of integrated layout, please isolate high frequency noise source (power Switch,data
or address signal lines ) from GPS antenna.
3. Please don’t place metal object above patch antenna.
10
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GPS Module Operational Manual)
Design Layout Diagram
Recommanded Ground plate for RGM-3000M
RGM-3000M with ground plate
11
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GPS Module Operational Manual)
Recommanded RGM-3000-A Antenna Ground Plate
Connector tool (Option, not included in standard kit)
It is used to remove or install FPC on connector.
Software interface
NMEA V2.2 Protocol
GSA, GSV, RMC and VTG.
It is the RS-232 interface:9600 bps, 8 bit
data, 1 stop bit and no parity. It supports the
following NMEA-0183 messages:GGA, GLL,
NMEA Output Messages
The Engine board outputs the following
messages as shown in Table 1:
Table 1 NMEA-0183 Output Messages
NMEA Record
Description
GGA
GLL
GSA
GSV
RMC
VTG
Global positioning system fixed data
Geographic position – latitude / longitude
GNSS DOP and active satellites
GNSS satellites in view
Recommended minimum specific GNSS data
Course over ground and ground speed
12
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RoyalTek RGM-3000/REB-3000
GPS Module Operational Manual)
3723.2475, N, 12158.3416, W, 1,
07, 1.0, 9.0, M, , , ,0000*18
GGA-Global Positioning System
Fixed Data
Table 2 contains the values of the following
example: $GPGGA, 161229.487,
Table 2 GGA Data Format
Name
Message ID
Example
$GPGGA
Units
Description
GGA protocol header
UTC Position
Latitude
161229.487
3723.2475
hhmmss.sss
ddmm.mmmm
N/S Indicator
Longitude
N
N=north or S=south
dddmm.mmmm
12158.3416
E/W Indicator
Position Fix Indicator
Satellites Used
HDOP
MSL Altitude
Units
W
1
07
1.0
9.0
M
E=east or W=west
See Table 2-1
Range 0 to 12
Horizontal Dilution of Precision
meters
meters
meters
meters
Geoid Separation
Units
M
Age of Diff. Corr.
Diff. Ref. Station ID
Checksum
second Null fields when DGPS is not used
0000
*18
End of message termination
＜CR＞＜LF＞
Table 2-1 Position Fix Indicator
Value
Description
0
1
2
3
Fix not available or invalid
GPS SPS Mode, fix valid
Differential GPS, SPS Mode, fix valid
GPS PPS Mode, fix valid
example:$GPGLL, 3723.2475, N,
12158.3416, W, 161229.487, A*2C
GLL-Geographic Position –
Latitude/Longitude
Table 3 contains the values of the following
Table 3 GLL Data Format
Name
Message ID
Latitude
N/S Indicator
Longitude
E/W Indicator
UTC Position
Status
Example
$GPGLL
3723.2475
N
12158.3416
W
Units
Description
GLL protocol header
ddmm.mmmm
N=north or S=south
Dddmm.mmmm
E=east or W=west
hhmmss.ss
161229.487
A
A=data valid or V=data not valid
Checksum
＜CR＞＜LF＞
*2C
End of message termination
example:$GPGSA, A, 3, 07, 02, 26,
27, 09, 04, 15, , , , , , 1.8,1.0,1.5*33
GSA-GNSS DOP and Active Satellites
Table 4 contains the values of the following
13
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GPS Module Operational Manual)
Table 4 GSA Data Format
Name
Message ID
Mode 1
Example
$GPGSA
Units
Description
GSA protocol header
See Table 4-2
A
3
Mode 2
See Table 4-1
Satellite Used
Satellite Used
….
07
02
Sv on Channel 1
Sv on Channel 2
….
Satellite Used
PDOP
HDOP
VDOP
Checksum
＜CR＞＜LF＞
Sv on Channel 12
Position Dilution of Precision
Horizontal Dilution of Precision
Vertical Dilution of Precision
1.8
1.0
1.5
*33
End of message termination
Table 4-1 Mode 1
Value
Description
1
2
3
Fix not available
2D
3D
Table 4-2 Mode 2
Value
M
Description
Manual-forced to operate in 2D or 3D mode
A
Automatic-allowed to automatically switch 2D/3D
256, 42, 27, 27, 138,
GSV-GNSS Satellites in View
Table 5 contains the values of the following
example: $GPGSV, 2, 1, 07, 07, 79,
048, 42, 02, 51, 062, 43, 26, 36,
42*71$GPGSV, 2, 2, 07, 09, 23,
313, 42, 04, 19, 159, 41, 15, 12,
041, 42*41
Table 5 GSV Data Format
Name
Example
Units
Description
Message ID
$GPGSV
GSV protocol header
Range 1 to 3
Range 1 to 3
Number of Messages1
Messages Number1
Satellites in View
Satellite ID
2
1
07
07
79
048
42
Channel 1(Range 1 to 32)
degrees Channel 1(Maximum 90)
degrees Channel 1(True, Range 0 to 359)
Elevation
Azimuth
SNR (C/No)
….
dBHz
Range 0 to 99, null when not tracking
….
Satellite ID
Elevation
27
27
Channel 4(Range 1 to 32)
degrees Channel 4(Maximum 90)
Azimuth
SNR (C/No)
Checksum
138
42
*71
degrees Channel 4(True, Range 0 to 359)
dBHz
Range 0 to 99, null when not tracking
End of message termination
＜CR＞＜LF＞
1Depending on the number of satellites
tracked multiple messages of GSV data may
be required.
Specific GNSS Data
Table 6 contains the values of the following
example: $GPRMC, 161229.487, A,
3723.2475, N, 12158.3416, W, 0.13,
309.62, 120598, ,*10
RMC-Recommended Minimum
14
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GPS Module Operational Manual)
Table 6 RMC Data Format
Name
Message ID
UTC Position
Status
Latitude
N/S Indicator
Longitude
E/W Indicator
Speed Over Ground
Course Over Ground
Date
Example
Units
Description
RMC protocol header
hhmmss.sss
A=data valid or V=data not valid
ddmm.mmmm
N=north or S=south
dddmm.mmmm
$GPRMC
161229.487
A
3723.2475
N
12158.3416
W
0.13
309.62
120598
E=east or W=west
knots
degrees
True
ddmmyy
Magnetic Variation
Checksum
degrees
E=east or W=west
*10
End of message termination
＜CR＞＜LF＞
example:$GPVTG, 309.62, T, , M, 0.13, N,
VTG-Course Over Ground and
Ground Speed
0.2, K*6E
Table 7 contains the values of the following
Table 7 VTG Data Format
Name
Message ID
Course
Reference
Course
Reference
Speed
Example
$GPVTG
309.62
T
Units
Description
VTG protocol header
Measured heading
True
Measured heading
Magnetic
degrees
degrees
knots
M
0.13
N
Measured horizontal speed
Knots
Units
Speed
Units
0.2
K
km/hr
Measured horizontal speed
Kilometer per hour
Checksum
＜CR＞＜LF＞
*6E
End of message termination
Message I.D.129 ” on page 17 using a user
program or using SiRFdemo.exe and
selecting Switch to NMEA Protocol from the
Action manual. If the receiver is in SiRF
Binary mode, all the NMEA input messages
are ignored. Once the receiver is put into
NMEA mode, the following messages may
be used to command the module.
SiRF Proprietary NMEA Input
Messages
NMEA input messages allow you to control
the Evaluation Unit in NMEA protocol mode.
The Evaluation Unit may be put into NMEA
mode by sending the SiRF Binary protocol
message “ Switch To NMEA Protocol –
Transport Message
Start Sequence
Payload
Checksum
End Sequence
1
2
3
4
$PSRF<MID>
Data
*CKSUM
<CR><LF>
1Message Identifier consists of three
at MID 100.
2Message specific data. Refer to a specific
numeric characters . Input messages begin
15
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GPS Module Operational Manual)
message section for <data>…<data>
definition
not printable ASCII characters , they are
omitted from the example strings, but must
be sent to terminate the message and cause
the receiver to process that input message.
3CKSUM is a two-hex character checksum
as defined in the NMEA specification . Use
of checksums is required on all input
messages.
Note – All fields in all proprietary NMEA
messages are required, none are exceptional.
All NMEA messages are comma delimited
4Each message is terminated by using
Carriage Return (CR) Line Feed (LF) which
is \r\n which is hex 0D 0A. Because \r\n are
SIRF NMEA Input Messages
Message
Message
Identifier
(MID)
100
Description
Set Serial Port
Set PORT A Parameters and protocol
Navigation Initialization
Set DGPS Port
101
102
Parameters required for start using X/Y/Z
Set PORT B parameters for DGPS input
Query / Rate Control
LLA Navigation
103
104
Query standard NMEA message and/or set output rate
Parameters required for start using Lat/Lon/Alt1
Initialization
Development Data On/Off
105
Development Data messages On/Off
extensive command message set is
Input coordinates must be WGS84.
available. When a valid message is received,
the parameters are stored in battery-backed
Set Serial Port
This command message is used to set the
protocol (SiRF Binary or NMEA) and/or the
communication parameters (baud , data bits,
stop bits, parity). Generally, this command is
used to switch the module back to SiRF
Binary protocol mode where a more
SRAM and then the Evaluation Unit restarts
using the saved parameters.
Table 8 contains the input values for the
following example:Switch to SIRF Binary
protocol at 9600,8,N,1
$PSRF100,0,9600,8,1,0*0C
Table 8 Set Serial Port Data Format
Name
Message ID
Protocol
Baud
Data Bits
Example
$PSRF100
Units
Description
PSRF100 protocol header
0=SiRF Binary, 1=NMEA
4800,9600,19200,38400
0
9600
8
1
8,7
Stop Bits
Parity
1
0
0,1
0=None ,1=Odd,2=Even
Checksum
<CR><LF>
*0C
End of message termination
1SiRF protocol is only valid for 8data bits, 1 stop bit,
and no parity.
LLA Navigation Initialization
This command is used to initialize the
module for a warm start, which provide
current position (in X, Y, Z coordinates),
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clock offset , and time .This enables the
Evaluation Unit to search for the correct
satellite signals at the correct signal
parameters . Correct initialization
Table 9 contains the input values for the
following example:Switch to SiRF Binary
protocol at 9600,8,N,1
$PSRF101,-2686700,-4304200, 3851624,
95000, 497260, 921, 12, 3*22
parameters enable the Evaluation Unit to
acquire signals quickly.
Table 9 Navigation Initialization Data Format
Name
Message ID
ECEF X
ECEF Y
ECEF Z
Example
$PSRF101
-2686700
-4304200
3851624
95000
Units
Description
PSRF101 protocol header
X coordinate position
Y coordinate position
Z coordinate position
Meters
Meters
Meters
Hz
CLK Offset
1
Clock Offset of the Evaluation Unit
Time Of Week
Week No
Channel Count
Reset Cfh
497260
921
12
seconds GPS Time OF Week
GPS Week Number
Range 1 to 12
3
See Table 10
Checksum
*22
<CR><LF>
End of message termination
Use 0 for last saved value if available . If this is unavailable, a default value of 96,000 will be used…
Table 10 Reset Configuration
Hex
0x01
0x02
0x04
Description
Data Valid – Warm /Hot Starts=1
Clear Ephemeris – Warm Start=1
Clear Memory – Cold Start =1
PORT B are 9600 baud, 8 data bits, stop bit,
Set DGPS Port
and no parity. If a DGPS received , the
parameters are stored in battery – backed
SRAM and then the receiver restarts using
the saved parameters.
This command is used to control Serial Port
B which is an input – only serial port used to
receive RTCM differential corrections.
Differential receivers may output corrections
using different communication parameters.
The default communication parameters for
Table 11 contains the input values for the
following example:Set DGPS Port to be
9600,8,N,1. $PSRF102,9600,8,1,0*3C
Table 11 Set DGPS Port Data Format
Name
Message ID
Baud
Data Bits
Stop Bits
Parity
Example
$PSRF102
Units
Description
PSRF102 protocol header
4800,9600,19200,38400
8,7
9600
8
1
0,1
0
0==None, 1=Odd, 2=Even
Checksum
<CR><LF>
*3C
End of message termination
be polled once, or setup for periodic output.
Query/Rate Control
Checksums may also be enabled or disabled
depending on the needs of the receiving
program. NMEA message settings are saved
in battery-backed memory for each entry
when the message is accepted.
This command is used to control the output
of standard NMEA messages GGA, GLL,
GSA, RMC, and VTG. Using this command
message, standard NMEA messages may
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Table 12 Query/Rate Control Data
Format(See example 1.)
$PSRF103,05,00,01,01*20
3.Disable VTG message
$PSRF103,05,00,00,01*21
1.Quety the GGA message with checksum
enabled: $PSRF103,00,01,00,01*25
2.Enable VTG message for a 1 Hz
constant output with checksum enabled:
Table 12 Query/Rate Control Data Format(See example 1.)
Name
Message ID
Message
Example
$PSRF103
Units
Description
PSRF102 protocol header
See Table 13
00
01
Mode
0=Set Rate, 1=Query
Rate
00
01
*25
seconds Output – off=0,max=255
0=Disable Checksum, 1=Enable Checksum
Cksum Enable
Checksum
<CR><LF>
End of message termination
Table 13 Messages
Value
Description
GGA
0
1
2
3
4
5
GLL
GSA
GSV
RMC
VTG
parameters . Correct initialization
parameters enable the receiver to acquire
signals quickly.
LLA Navigation Initialization
This command is used to initialize the
module for a warm start , by providing
current position(in latitude, longitude, and
altitude coordinates), clock offset, and time.
This enables the receiver to search for the
correct satellite signals at the correct signal
Table 14 contains the input values for the
following example: Start using known
position and time $PSRF104, 37.3875111,
-121.97232, 0, 95000, 237759, 922, 12,
3*3A
Table 14 LLA Navigation Initialization Data Format
Name
Message ID
Lat
Lon
Alt
Example
$PSRF104
37.3875111
-121.97232
0
Units
Description
PSRF104 protocol header
Latitude position (Range 90 to –90)
Longitude position (Range 180 to –180)
Altitude position
Degrees
Degrees
Meters
Hz
CLK Offset
95000
1
Clock Offset of the Evaluation Unit
Time Of Week
Week No
Channel Count
Reset Cfg
237759
922
12
Seconds
GPS Time Of Week
GPS Week Number
Range 1 to 12
3
See Table 15
Checksum
*3A
<CR><LF>
End of message termination
Use 0 for last saved value if available. If this is unavailable, a default value of 96,000 will be used.
Table 15 Reset Configuration
Hex
0x01
0x02
Description
Data Valid – Warm /Hot Starts=1
Clear Ephemeris – Warm Start=1
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0x04
Clear Memory – Cold Start =1
checksum of parameter out of specified
range.
Development Data On/Off
Use this command to enable development
data information if you can not get the
commands accepted. Invalid commands
generate debug information that enables the
user to determine the source of the
Table 16 contains the input values for the
following examples:
1. Debug On $PSRF105,1*3E
2. Debug Off $PSRF 105,0*3F
command rejection. Common reasons for
input command rejection are invalid
Table 16 Development Data On/Off Data Format
Name
Message ID
Debug
Example
$PSRF105
1
Units
Description
PSRF105 protocol header
0=Off , 1= On
Checksum
<CR><LF>
*3E
End of message termination
to include:
Calculating Checksums for NMEA
Input
● Reliable transport of messages
● Ease of implementation
● Efficient implementation
● Independence from payload
Protocol Layers Transport Message
The Checksum is the 8-bit exclusive OR of all
the characters after $ and before *. (Not
including $ and *)
SiRF Binary Protocol
The serial communication protocol is designed
Start
Sequence
Payload
Length
Two-bytes
(15-bits)
Message
Checksum
Two-bytes
(15-bits)
EndSequence
Payload
1
10-1
0xB0,
0xB3
0xA0 ,
Up to 2
0xA2
(<1023 )
0xYY denotes a hexadecimal byte value. 0xA0 equals 160.
Transport
two-byte (15- bit)message length and a
two-byte(15-bit) choice of a 15-bit values for
length and check sum are designed such
that both message length and check sum
can not alias with either the stop of start
code.
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 identifiable
and such that they are unlikely to occur
frequently in the data. In addition, the
transport layer prefixes the message with a
Message Validation
The validation layer is of part of the transport,
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but operates independently. The byte count
refers to the payload byte length. Likewise,
the check sum is a sum on the payload.
Message Length
data neither the alignment nor the byte order
are defined as part of the transport although
SiRF payloads will use the big-endian order.
Checksum
The message length is transmitted high
order byte first followed by the low byte.
The check sum is transmitted high order
byte first followed byte the low byte. This is
the so-called big- endian order
High Byte
<0x7F>
Low Byte
Any value
High Byte
<0x7F
Low Byte
Any value
The check sum 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 .
Even though the protocol has a maximum
15
length of (2 -1) bytes practical
considerations require the SiRF GPS
module implementation to limit this value to
a smaller number. Likewise, the SiRF
receiving programs (e.g., SiRF demo) may
limit the actual size to something less than
this maximum..
Index = first
checkSum = 0
Payload Data
while index < msgLen
The payload data follows the message
length. It contains the number of bytes
specified by the message length. The
payload data may contain any 8-bit value.
Where multi-byte values are in the payload
checkSum = checkSum +message[index]
checkSum = checkSum AND(215-1)
Input Messages for SiRF Binary Protocol
Note – All input messages are sent in BINARY
format
Table 19 SiRF Messages – Input Message List
Hex
ASCII
128
129
130
132
133
134
136
137
138
139
140
141
142
143
144
145
Name
0 x 80
0 x 81
0 x 82
0 x 84
0x 85
Initialize Data Source
Switch to NMEA Protocol
Set Almanac
Software Version
DGPS Source Control
Set Main Serial Port
Mode Control
DOP Mask Control
DGPS Mode
Elevation Mask
Power Mask
Editing Residual
Steady-State Detection
Static Navigation
Clock Status
0x 86
0 x 88
0 x 89
0 x 8A
0 x 8B
0 x 8C
0 x 8D
0 x 8E
0 x 8F
0 x 90
0 x 91
Set DGPS Serial Port
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0 x 92
0 x 93
0 x 95
0 x 96
0 x 97
0 x 98
0x A5
0x A6
0x A7
146
147
149
150
151
152
165
166
167
Almanac
Ephemeris
Set Ephemeris
Switch Operating Mode
Set Trickle Power Parameters
Navigation Parameters (Poll)
Change UART Configuration
Set Message Rate
Low Power Acquisition Parameters
Number(924),and Channels(12). Raw
track data Debug data enabled.
Example:
Initialize Data Source-Message I.D.
128
Table 18 contains the input values for the
following example:Warm start the receiver
with the following initialization data:ECEF
WYZ (-2686727 m,-4304282 m,3851642
m),Clock Offset (75,000 Hz),Time of
Week(86,400 s),Week Number(924),Week
A0A20019-Start Sequence and Payload
Length
80FFD700F9FFBE5266003AC57A000124
F80083S600039C0C33- Payload
0A91B0B3-Message Checksum and End
Sequence
Table 20 Initialize Data Source
Binary(Hex)
Name
Bytes
Units
Description
Scale
Example
Message ID
ECEF X
ECEF Y
1
4
4
4
4
4
2
1
1
80
ASCII 128
FFD700F9
FFBE5266
003AC57A
000124F8
0083D600
039C
meters
meters
meters
Hz
ECEF Z
Clock Offset
Time of Week
Week Number
Channels
*100
seconds
0C
33
Range 1-12
See Table 19
Reset Config.
Payload Length: 25 bytes
Table 21 Initialize Data Source
Bit
Description
0
1
2
3
4
5
6
7
Data valid flag-set warm/hot start
Clear ephemeris-set warm start
Clear memory-set cold start
Factory Reset
Enable Nav Lib data (YES=1,NO=0)
Enable debug data for SiRF binary protocol(YES=1,NO=0)
Enable debug data for NMEA protocol(YES=1,NO=0)
Reserved (must be 0)
NL Initialize Data (MID 31). All messages are
sent at 1 Hz and the baud rate will be
automatically set to 57600.
Note - If Nav Lib data is ENABLED then the
resulting messages are enabled. Clock
Status (MID 7), 50 BPS (MID 8), Raw DGPS
(17), NL Measurement Data (MID 28), GPS
Data (MID 29), SV State Data (MID 30), and
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Example:
Switch To NMEA – Message I.D. 129
Table 20 contains the input values for the
following example:
A0A20018 – Start Sequence and Payload
Length
Request the following NMEA data at 9600
baud:
8102010100010501050100010001000100010
001000112C0 – Payload
016AB0B3 – Message Checksum and End
Sequence
GGA – ON at 1 sec , GLL – 0sec , GSA – ON
at 5 sec GSV – ON at 5 sec , RMC – 0 sec ,
VTG – 0 sec
Table 22 Switch To NMEA Protocol
Binary(Hex)
Name
Message ID
Mode
Bytes
Units
Description
Scale Example
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
81
02
01
01
00
01
05
01
05
01
00
01
00
01
00
01
00
01
00
01
00
01
12C0
ASCII 129
GGA Message1
Checksum2
GLL Message
Checksum
1/s
1/s
1/s
1/s
1/s
1/s
GSA Message
Checksum
GSV Message
Checksum
RMC Message
Checksum
VTG Message
Checksum
MSS Message
Checksum
Recommended value
Recommended value
Recommended value
Recommended value
Recommended value
Recommended value
Recommended value
Recommended value
38400,19200,9600,4800,2400
Unused Field
Unused Field
Unused Field
Unused Field
Unused Field
Unused Field
Baud Rate
Payload Length: 24bytes
(1)
A value of 0x00 implies NOT to send
message, otherwise data is sent at 1
message every X seconds requested
(i.e., to request a message to be sent
every 5 seconds, request the message
using a value of 0x05.)Maximum rate is
1/255s.
message (recommended).
Set Almanac- Message I.D. 130
This command enables the user to upload
an almanac to the Evaluation Unit
Note – This feature is not documented in
this manual. For information on
implementation contact SiRF Technology
Inc.
(2)
A value of 0x00 implies the checksum
is NOT calculated OR transmitted with
the message (not recommended ) .A
value of 0x01 will have a checksum
calculated and transmitted as part of the
Software Version – Message I.D. 132
Table 21 contains the input values for the
following example:Poll the software
version
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Example:
8400 – Payload
A0A20002 – Start Sequence and Payload
Length
0084B0B3 – Message Checksum and End
Sequence
Table 23 Software Version
Binary(Hex)
Name
Message ID
TBD
Bytes
1
1
Units
Description
ASCII 132
Scale
Example
84
00
Payload Length: 2 bytes
Example 1: Set the DGPS source to External
RTCM Data
DGPS Source – Message I.D. 133
This command allows the user to select the
source for DGPS corrections. Options available
are:
A0A20007—Start Sequence and Payload Length
85020000000000—Payload
0087B0B3—Checksum and End Sequence
External RTCM Data (any serial port)
WAAS (subject to WAAS satellite availability)
Internal DGPS beacon receiver
Table B-6 DGPS Source Selection (Example 1)
Binary(Hex)
Name
Message ID
DGPS Source
Internal Beacon
Bytes
Units
Description
Message identifier
See Table B-8. DGPS Source Selections
See Table B-9. Internal Beacon Search
setting.
Scale Example
1
1
4
85
00
00000000
Hz
Internal Beacon
Bit Rate
1
0
BPS
See Table B-9. Internal Beacon Search
setting.
Payload: 7Bytes.
Example2: Set the DGPS source to Internal
DGPS Beacon Receiver
A0A20007—Start Sequence and Payload Length
85030004BAF0C802—Payload
Search Frequency 310000, Bit Rate 200
02FEB0B3—Checksum and End Sequence
Table B-7 DGPS Source Selection (Example 2)
Binary(Hex)
Name
Message ID
DGPS Source
Internal Beacon
Bytes
Units
Description
Message identifier
See Table B-8. DGPS Source Selections
See Table B-9. Internal Beacon Search
setting.
Scale Example
1
1
4
85
03
0004BAF0
Hz
Internal Beacon
Bit Rate
1
C8
BPS
See Table B-9. Internal Beacon Search
setting.
Payload: 7Bytes.
Table B- 8 DGPS Source Selections
DGPS Source
Hex
Decim
Description
al
DGPS corrections will not be used (even if available).
None
00
0
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WAAS
Uses WAAS Satellite (subject to availability).
External RTCM input source (i.e., Coast Guard Beacon).
Internal DGPS beacon receiver.
01
02
03
1
2
3
External RTCM Data
Internal DGPS
Beacon Receiver
Table B- 9 Internal Beacon Search Settings
Search Type
Frequen
Bit Rate
0
Description
cy
0
Auto Scan
Auto scanning of all frequencies and bit rates are
performed.
Auto scanning of all frequencies and specified bit rate
are performed.
Auto scanning of all bit rates and specified frequency
are performed.
Only the specified frequency and bit rate search are
performed.
Full Frequency Scan
Full Bit Rate Scan
Specific Search
0
Non zero
0
Non
Zero
Non
Zero
Non Zero
Length
Set Main Serial Port-Message I.D. 134
Table B-10 contains the input values for the
following example:
860000258008010000—Payload
0134B0B3—Message Checksum and End
Sequence
Set Main Serial port to 9600,n,8,1.
Example:
A0A20009—Start Sequence and Payload
Table B- 10 Set Main Serial Port
Binary(Hex)
Name
Message ID
Baud
Data Bits
Stop Bit
Parity
Bytes
Units
Description
Message identifier
38400,19200,9600,4800,2400,1200
8,7
0,1
Scale Example
1
4
1
1
1
1
86
00002580
08
01
00
00
None=0, Odd=1, Even=2
Reserved
Pad
Payload Length: 9 bytes
Example:
Mode control – Message I.D .136
Table 24 contains the input values for the
following example: 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
A0A2000W – Start Sequence and Payload
Length
88010101010100000002140501 –
Payload
00A9B0B3 – Message Checksum and
End Sequence
Table 24 Mode Control
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Binary(Hex)
Name
Message ID
3D Mode
Alt Constraint
Degraded Mode
TBD
Bytes
Units
Description
Scale Example
1
1
1
1
1
1
2
1
1
1
1
88
01
01
01
01
01
0000
00
02
14
ASCII 136
1 (always true=1)
YES = 1,NO = 0
See Table C-7
Reserved
DR Mode
Altitude
YES = 1,NO = 0
Meters Range –1,000 to 10,000
Auto = 0,Always=1,Disable=2
Last Computed=0,Fixed to=1
Seconds 0 to 120
Alt Hold Mode
Alt Source
Coast Time Out
Degraded Time
Out
05
Seconds 0 to 120
Dr Time Out
Track Smoothing
1
1
01
01
Seconds 0 to 120
YES = 1,NO = 0
Payload Length:14 bytes
Table 25 Degraded Mode Byte Value
Byte Value
Description
0
1
2
3
4
Use Direction then Clock Hold
Use Clock then Direction Hold
Direction(Curb)Hold Only
Clock(Time)Hold Only
Disable Degraded Modes
Example:
DOP Mask Control – Message I.D. 137
Table 26 contains the input values for the
following example:
A0A20005 – Start Sequence and Payload
Length
8900080808 – Payload
00A1B0B3 – Message Checksum and
End Sequence
Auto Pdop/Hdop, Gdop =
8(default),Pdop=8,Hdop=8
Table 26 DOP Mask Control
Binary(Hex)
Name
Message ID
DOP Selection
GDOP Value
PDOP Value
HDOP Value
Bytes
Units
Description
ASCII 137
See Table 25
Range 1 to 50
Range 1 to 50
Range 1 to 50
Scale
Example
1
1
1
1
1
88
00
08
08
08
Payload Length: 5 bytes
Table 27 DOP Selection
Byte Value
Description
0
1
2
3
4
Auto PDOP/HDOP
PDOP
HDOP
GDOP
Do Not Use
Set DGPS to exclusive with a time out of
DGPS Control – Message I.D.138
Table 28 contains the input values for the
following example:
30 seconds.
Example:
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A0A20003 – Start Sequence and Payload
Length
End Sequence
8A011E – Payload
00A9B0B3 – Message Checksum and
Table 28 DGPS Control
Binary(Hex)
Scale Example
Name
Message ID
DGPS Selection
DGPS Time Out
Bytes
Units
Description
ASCII 138
See Table 27
Range 1 to 120
1
1
1
8A
01
1E
Seconds
Payload Length:3 bytes
Table 29 DGPS Selection
Byte Value
Description
0
1
2
3
Auto
Exclusive
Never
Mixed (not recommended)
Example:
Elevation Mask – Message I.D.139
Table 30 contains the input values for the
following example:
A0A20005 – Start Sequence and Payload
Length
8B0032009B – Payload
0269B0B3 – Message Checksum and End
Sequence
Set Navigation Mask to 15.5 degrees
(Tracking Mask is defaulted to 5 degrees).
Table 30 Elevation Mask
Binary(Hex)
Name
Message ID
Tracking Mask
Navigation Mask
Bytes
Units
Description
ASCII 139
Not currently used
Range –20.0 to 90.0
Scale
Example
8B
0032
1
2
2
*10
*10
degrees
degrees
009B
Payload Length:5 bytes
Length
Power Mask – Message I.D.140
8C1C21 – Payload
Table 31 contains the input values for the
following example: Navigation mask to
33dBHz (tracking default value of 28)
Example:
00C9B0B3 – Message Checksum and
End Sequence
A0A20003 – Start Sequence and Payload
Table 31 Power Mask
Binary(Hex)
Name
Message ID
Tracking Mask
Navigation Mask
Bytes
Units
Description
Scale
Example
8C
1
1
1
ASCII 140
1C
21
dBHz
dBHz
Not currently implemented
Range –28 to 50
Payload Length:3 bytes
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Editing Residual – Message I.D.141
Note – Not implemented currently
Example:
Steady State Detection – Message
I.D.142
A0A20002 – Start Sequence and Payload
Length
Table 32 contains the input values for the
following example: Set Stead State
Threshold to 1.5 m/sec2
8E0F – Payload
009DB0B3 – Message Checksum and
End Sequence
Table 32 Steady Detection
Binary(Hex)
Name
Message ID
Threshold
Bytes
1
1
Units
Description
ASCII 142
Range 0 to 20
Scale
Example
8E
0F
M /sec2
Payload: 2 bytes
Static Navigation – Message I.D.144
Table 33 Steady State Detection
Binary(Hex)
Name
Message ID
TBD
Bytes
1
1
Units
Description
ASCII 144
Reserved
Scale
Example
90
00
Payload Length:2 bytes
Set DGPS Serial Port – Message I.D 145
Table 34 contains the input values for the
following example:Set DGPS Serial port to
9600.n,8,1.
A0A20009-Start Sequence and Payload
Length
910000258008010000 – Payload
013FB0B3 – Message Checksum and End
Sequence
Example:
Table 34 Set DGPS Serial Port
Binary(Hex)
Name
Message ID
Baud
Bytes
1
4
Units
Description
ASCII 145
38400,19200,9600,4800,2400,
Scale
Example
91
00002580
1200
Data Bits
Stop Bit
Parity
1
1
1
1
08
01
00
00
8,7
0,1
None=0,Odd=1,Even=2
Reserved
Pad
Payload Length: 9 bytes
A0A20002 – Start Sequence and Payload
Almanac – Message I.D.146
Length
Table 35 contains the input values for the
following example:Poll for the Almanac.
Example:
9200 – Payload
0092B0B3 – Message Checksum and End
Sequence
Table 35 Almanac
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Binary(Hex)
Scale Example
Name
Message ID
TBD
Bytes
1
1
Units
Description
ASCII 146
Reserved
92
00
Payload Length: 2 bytes
Length
930000 – Payload
Ephemeris Message I.D.147
Table 36 contains the input values for the
0092B0B3 – Message Checksum and End
Sequence
following example:Poll for Ephemeris Data
for all satellites.
Example:
A0A20003 – Start Sequence and Payload
Table 36 Almanac
Binary(Hex)
Name
Message ID
Sv I.D.1
Bytes
Units
Description
ASCII 147
Range 0 to 32
Reserved
Scale
Example
1
1
1
93
00
00
TBD
Payload Length:3 bytes
A value of 0 requests all available
ephemeris records, otherwise the
ephemeris of the Sv I.D. is requested.
Switch Operating Modes - Message
I.D. 150
Table 37 contains the input values for the
following example:
Switch To SiRF Protocol
Note – To switch to SiRF protocol you
must send a SiRF NMEA message to
Sets the receiver to track a single satellite
on all channels.
revert to SiRF binary mode. (See page 9, ”
NMEA Input Messages “ for more
information)
Example:
A0A20007—Start Sequence and Payload
Length
961E510006001E—Payload
0129B0B3—Message Checksum and End
Sequence
Table 37 Switch Operating Mode I.D. 150
Binary(Hex)
Name
Message ID
Mode
SvID
Period
Bytes
Units
Description
ASCII 150
1E51=test, 0=nomal
Satellite to Track
Duration of Track
Scale
Example
96
1E51
0006
001E
1
2
2
2
seconds
Payload length: 7 bytes
Message I.D. 151
Set Trickle Power Parameters -
Table 38 contains the input values for the
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following example: Sets the receiver into
low power Modes. Example: Set receiver
into Trickle Power at 1 hz update and 200
ms On Time.
Length
97000000C8000000C8—Payload
0227B0B3—Message Checksum and End
Sequence
A0A20009—Start Sequence and Payload
Table 38 Set Trickle Power Parameters I.D. 151
Binary(Hex)
Name
Message ID
Push To FixMode
Duty Cycle
Milli Seconds On
Time
Bytes
Units
Description
ASCII 151
ON=1, OFF=0
% Time on
Scale
Example
97
0000
00C8
000000C8 ms
1
2
2
4
*10
%
Range 200 ~ 500 ms
Payload Length: 9bytes.
Time, use the following formula:
Off Time = (On Time - (Duty Cycle * On
Time)) / Duty Cycle
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
ms). To calculate the TricklePower update
rate as a function of Duty cycle and On
Update rate = Off Time + On Time
Note – On Time inputs of > 900 ms will
default to 1000 ms
Following are some examples of
selections:
Table 39 Example of selections for Trickle Power Mode of Operation
Mode
On Time (ms)
Duty Cycle (%)
Update rate (1/Hz)
Continuous
1000
200
200
300
500
100
20
10
10
5
1
1
2
3
10
Trickle Power
Trickle Power
Trickle Power
Trickle power
See Table 40 for supported/unsupported settings.
Table 40 Trickle Power Mode Settings
On
Update Rate (second)
Time
(ms)
200
300
400
500
600
700
800
900
1
2
3
4
5
6
7
8
Y
Y
Y
Y
Y
Y
Y
Y
Y
Y
Y
Y
Y
Y
Y
Y
N
Y
Y
Y
Y
Y
Y
Y
N
Y
Y
Y
Y
Y
Y
Y
N
Y
Y
Y
Y
Y
Y
Y
N
Y
Y
Y
Y
Y
Y
Y
N
N
Y
Y
Y
Y
Y
Y
N
N
Y
Y
Y
Y
Y
Y
Y = Yes (Mode supported)
N = No (Mode NOT supported)
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approximately On Period/1800, or about
1%. Push-to-Fix keeps the ephemeris for
all visible satellites up to date so
position/velocity fixes can generally be
computed within SnapStart times (when
requested by the user) on the order of 3
seconds.
Push-to-Fix
In this mode the receiver will turn on every
30 minutes to perform a system update
consisting of a RTC calibration and
satellite ephemeris data collection if
required (i.e., a new satellite has become
visible) as well as all software tasks to
support SnapStart in the event of an NMI.
Ephemeris collection time in general this
takes 18 to 30 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:
Poll Navigation Parameters -
Message I.D. 152
Table C-20 contains the input values for
the following example:
Example: Poll receiver for current
navigation parameters.
A0A20002—Start Sequence and Payload
Length
Off period = (On Period*(1-Duty Cycle) /
Duty Cycle)
9800—Payload
Off Period is limited to 30 minutes. The
duty cycle will not be less than
0098B0B3—Message Checksum and End
Sequence
Table C-20 Poll Receiver for Navigation Parameters
Binary(Hex)
Name
Message ID
Reserved
Bytes
1
1
Units
Description
ASCII 152
Scale
Example
98
00
Payload length: 2 bytes
A0A20031—Start Sequence and Payload
Length
Set UART Configuration - Message
I.D. 165
A5000101000025800801000000010000000
0E1000801000000FF050500000000000
0000000FF0505000000000000000000—Pa
yload
Table B-28 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.
0452B0B3—Message Checksum and End
Sequence
Example:
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Table B- 28 Set UART Configuration
Binary(Hex)
Scale Example
Name
Message ID
Port
Bytes
1
1
1
1
4
1
1
1
1
1
1
1
1
4
1
1
1
1
1
1
1
1
4
1
1
1
1
1
1
1
1
4
Units
Description
Decimal 165
For UART 0
For UART 0
For UART 0 (Set to In protocol)
For UART 0
For UART 0
For UART 0
For UART 0
For UART 0
For UART 0
For UART 1
For UART 1
For UART 1
For UART 1
For UART 1
For UART 1
For UART 1
For UART 1
For UART 1
For UART 1
For UART 2
For UART 2
For UART 2
For UART 2
For UART 2
For UART 2
For UART 2
For UART 2
For UART 3
For UART 3
For UART 3
For UART 3
For UART 3
For UART 3
For UART 3
For UART 3
For UART 3
A5
00
01
01
In Protocol1
Out Protocol
Baud Rate2
Data bits3
Stop bits4
Parity5
00002580
08
01
00
00
00
00
01
01
Reserved
Reserved
Port
In Protocol
Out Protocol
Baud Rate
Data bits
Stop bits
Parity
Reserved
Reserved
Port
In Protocol
Out Protocol
Baud Rate
Data bits
Stop bits
Parity
Reserved
Reserved
Port
In Protocol
Out Protocol
Baud Rate
Data bits
Stop bits
Parity
0000E100
08
01
00
00
00
00
01
01
00000000
08
01
00
00
00
00
01
01
00000000
08
1
1
1
1
01
00
00
00
Reserved
Reserved
1
Payload Length: 49 bytes
1. 0 = SiRF Binary, 1 = NMEA, 2 = ASCII, 3 = RTCM, 4 = User1, 5 = No Protocol.
2. Valid values are 1200, 2400, 4800, 9600, 19200, 38400, and 57600.
3. Valid values are 7 and 8.
4. Valid values are 1 and 2.
5. 0 = None, 1 = Odd, 2 = Even.
Set Message Rate - Message I.D. 166
Table B-29 contains the input values for the following example:
Set message ID 2 to output every 5 seconds starting immediately.
Example:
A0A20008—Start Sequence and Payload Length
A601020500000000—Payload
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00AEB0B3—Message Checksum and End Sequence
Table B- 29 Set Message Rate
Binary(Hex)
Name
Message ID
Send Now1
MID to set
Update Rate
TBD
TBD
TBD
TBD
Bytes
Units
Description
Decimal 166
Poll message
Scale
Example
A6
1
1
1
1
1
1
1
1
01
02
05
00
00
00
00
sec
Range= 1 - 30
Reserved
Reserved
Reserved
Reserved
Payload Length: 8 bytes
1. 0 = No, 1 = Yes, if no update rate the message will be polled.
Example:
Low Power Acquisition Parameters -
Message I.D. 167
A0A20019—Start Sequence and Payload
Length
Table B-30 contains the input values for the
following example:
A7000075300001D4C000000000000000000
000000000000000—Payload
02E1B0B3—Message Checksum and End
Sequence
Set maximum off and search times for
re-acquisition while receiver is in low power.
Table B- 30 Set Low Power Acquisition Parameters
Binary(Hex)
Name
Message ID
Max Off Time
Max Search Time
TBD
TBD
TBD
TBD
Bytes
Units
Description
Decimal 167
Maximum time for sleep mode
Max. satellite search time
Reserved
Reserved
Reserved
Reserved
Scale
Example
A7
1
4
4
4
4
4
4
00007530
0001D4C0
00000000
00000000
00000000
00000000
ms
ms
Payload Length: 25 bytes
Output Messages for SiRF Binary Protocol
Note – All output messages are received in BINARY format. SiRF demo interprets the binary data
and saves if to the log file in ASCII format.
Table 42 lists the message list for the SiRF output messages
Hex
0x02
0x04
0x05
0x06
0x07
0x08
ASCII Name
Description
2
4
5
6
7
8
Measured Navigation Data
Measured Tracking Data
Raw Track Data
SW version
Clock Status
Position, velocity, and time
Signal to noise information
Measurement information
Receiver software
50 BPS Subframe Date
Standard ICD format
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0x09
0x0B
0x0C
0X0D
0x0E
0x0F
0x11
0x12
0x13
0x1C
0x1D
0x1E
0x1F
0x64
0xFF
9
11
Throughput
CPU load
Command Acknowledgment
Command N Acknowledgment
Visible List
Almanac Data
Ephemeris Data
Successful request
Unsuccessful request
Auto Output
12
13
14
15
17
18
19
28
29
30
31
100
255
Received from DGPS broadcast
CPU ON / OFF (Trickle Power)
Response to Poll
Measurement Data
Differential GPS Data
Satellite State Data
Initialization Data
UTC , lat , lon, validate output
Various data messages
Differential Corrections
OkToSend
Navigation Parameters
Nav. Lib. Measurement Data
Nav. Lib. DGPS Data
Nav. Lib. SV State Data
Nav. Lib. Initialization Data
RoyalTek Navigation Data
Development Data
Measure Navigation Data Out –
Message I.D.2
02FFD6F78CFFBE869E003AC004000301
04A00036B039780E3
Output Rate: 1 Hz
0612190E160F04000000000000 –
Payload
Table 43 lists the binary and ASCII
message data format for the measured
navigation data
09BBB0B3 – Message Checksum, and
End Sequence
Example:
A0A20029 – Start Sequence and Payload
Length
Table 43 Measured Navigation Data Out – Binary & ASCII Message Data Format
Binary(Hex) ASCII(Decimal)
Scale Example
Name
Message ID
X – position
Y – position
Z – position
X – velocity
Y – velocity
Z – velocity
Mode1
Bytes
Units
Scale
Example
1
4
4
4
2
2
2
1
1
1
2
4
1
1
1
1
1
1
1
1
1
1
1
02
2
FFD6F78C
M
M
-2689140
FFBE536E
-4304018
003AC004
M
3850244
*8
*8
*8
00
03
M/s
Vx/8
Vy/8
/8
0
M/s
0.375
01
M/s
0.125
04
Bitmap1
4
DOP2
*5
A
/5
2.0
Mode3
00
Bitmap3
seconds
0
GPS Week
GPS TOW
SVs in Fix
CH 1
036B
039780E3
06
875
*100
/100
602605.79
6
18
25
14
22
15
4
12
CH 2
19
CH 3
0E
CH 4
16
CH 5
0F
CH 6
04
CH 7
00
0
CH 8
00
0
CH 9
00
0
CH 10
00
0
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CH 11
CH 12
1
1
00
00
0
0
Payload Length :41 bytes
3For further information , go to Table 43
Note – Binary units scaled to integer
values need to be divided by the scale
value to receive true decimal value (i.e.,
decimal Xvel = binary Xvel /8).
1For further information , go to Table 42
2Dilution of precision (DOP) field contains
value of PDOP when Position is obtained
using 3D solution and HDOP in all other
cases.
Table 44 Mode 1
Mode 1
Description
Hex
0x00
0x01
0x02
0x03
0x04
0x05
0x06
0x07
ASCII
0
1
2
3
4
5
6
7
No Navigation Solution
1 Satellite Solution
2 Satellite Solution
3 Satellite Solution (2D)
>=4 Satellite Solution (3D)
2D Point Solution(Krause)
3D Point Solution(Krause)
Dead Reckoning (Time Out)
Table 45 Mode 2
Mode 2
Hex
Description
ASCII
0x00
0x01
0x02
0x03
0x04
0x05
0x06
0x07
0
1
2
3
4
5
6
7
DR Sensor Data
Validated / Unvalidated
Dead Reckoning (Time Out)
Output Edited by UI
Reserved
Reserved
Reserved
Reserved
04036C0000937F0C0EAB46003F
1A1E1D1D191D1A1A1D1F1D594
23
Measured Tracker Data Out –
Message I.D.4
Output Rate: 1 Hz
F1A1A…. – Payload ****B0B3 –
Message Checksum and End
Sequence
Table 46 lists the binary and ASCII
message data format for the measured
tracker data.
Example:A0A200BC – Start Sequence
and Payload Length
Table 46 Measured Tracker Data Out
Binary(Hex)
ASCII(Decimal)
Name
Message ID
GPS Week
GPS TOW
Bytes
Units
None
Scale
Example
04
036C
Scale
Example
4
876
1
2
4
S*100
0000937F
S
S/100
37759
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Channels
1st Sv ID
Azimuth
Elev.
1
1
1
1
2
1
1
1
1
1
1
1
1
1
1
1
1
1
2
1
1
0C
0E
AB
46
003F
1A
1E
1D
1D
19
1D
1A
1A
1D
1F
12
14
256.5
35
63
26
30
29
29
25
29
26
26
29
31
29
89
66
63
26
63
Az*[2/3]
EI*2
Degree
Degree
Bitmap1
/[2/3]
/2
State
C/NO 1
C/NO 2
C/NO 3
C/NO 4
C/NO 5
C/NO 6
C/NO 7
C/NO 8
C/NO 9
C/NO 10
2nd Sv ID
Azimuth
Elev.
1D
59
42
3F
1A
1A
Az*[2/3]
EI*2
Degree
Degree
Bitmap1
/[2/3]
/2
State
C/NO 1
C/NO 2
…..
Payload Length: 188 bytes
bytes with non tracking channels reporting
zero values
For further information, go to Table 45.
Note – Message length is fixed to 188
Table 47 Trk. to NAV Struct. Trk._status Field Definition
Field Definition
ACQ_SUCCESS
DELTA_CARPHASE_VALID
BIT_SYNC_DONE
SUBFRAME_SYNC_DONE
CARRIER_PULLIN_DONE
CODE_LOCKED
Hex Value
0x0001
0x0002
0x0004
0x0008
0x0010
0x0020
0x0040
0x0080
Description
Set if acq/reacq if done successfully
Integrated carrier phase is valid
Bit sync completed flag
Subframe sync has been done
Carrier pull in done
Code locked
Failed to acquire S/V
Ephemeris data available
ACQ_FAILED
GOT_EPHEMERIS
Note – When a channel is fully locked and all data is valid , the status shown is 0xBF
A0A20033 – Start Sequence and Payload
Raw Tracker Data Out – Message
Length
I.D.5
05000000070013003F00EA1BD4000D03
9200009783000DF45E000105B5FF90F5
C20000242827272327242427290500000
0070013003F – Payload
Output Rate:1 Hz
Table 48 lists the binary and ASCII
message data format for the raw tracker
data .
0B2DB0B3 – Message Checksum and
End Sequence
Example:
Table 48 Raw Tracker Data Out
Binary(Hex)
ASCII(Decimal)
Name
Message ID
Channel
SVID
Bytes
Units
Scale
Example
05
00000007
0013
Scale
Example
1
4
2
2
5
7
19
63
State
003F
Bitmap1
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Bits
Ms
Chips
Code Phase
4
2
2
4
00EA1BD4
000D
0392
00009783
Bit
Ms
Chip
Chip
15342548
13
914
38787
-16
-10
-16
-10
2
2
/2
/2
Carrier Doppler
4
000DF45E
Rad/2ms
914526
Time Tag
4
4
000105B5
FF90F5C2
Ms
Cycles
66997
-7277118
Delta Carrier2
-10
-10
2
/2
Search Count
C/NO 1
C/NO 2
C/NO 3
C/NO 4
C/NO 5
C/NO 6
C/NO 7
C/NO 8
2
1
1
1
1
1
1
1
1
1
1
1
0000
24
28
27
27
23
27
24
24
27
29
05
0
dBHz
dBHz
dBHz
dBHz
dBHz
dBHz
dBHz
dBHz
dBHz
dBHz
36
40
39
39
35
39
36
36
39
41
5
C/NO 9
C/NO 10
Power Loss
Count
Phase Loss
Count
Integration
Interval
Track Loop
Iteration
1
2
2
00000007
0013
7
Ms
19
63
003F
Payload Length:51 bytes per satellite tracked (up to 12)
1.For further information,go to Table 45
2.Multiply by (1000÷4π)÷216 to convert to Hz.
The meaning of I.D.5 is described as following table
Message ID:
Channel:
SVID:
Each SiRF binary message is defined based on the ID.
Receiver channel where data was measured (range 1-12).
PRN number of the satellite on current channel.
Current channel tracking state (see Table 45)
State:
Bit Number:
Number of GPS bits transmitted since Sat-Sun midnight (in Greenwich)
at a 50 bps rate.
Millisecond
Number:
Number of milliseconds of elapsed time since the last received bit(20
ms between bits)
Chip Number:
Current C/A code symbol being transmitted (range 0 to 1023
chips;1023 chips=1 ms).
Code Phase:
Fractional chip of the C/A code symbol at the time of sampling(scaled
by 2-16 ,=1/65536)
Carrier Doppler:
The current value of the carrier frequency as maintained by the
tracking loops.
Receiver Time
Tag:
This is the count of the millisecond interrupts from the start of the
receiver (power on) until the measurement sample is taken. The ms
interrupts are generated by the receiver clock.
Delta Carrier
Phase:
The difference between the carrier phase(current) and the carrier
phase(previous). Units are in carrier cycles with the LSB= 0.00185 carrier
cycles. The delta time for the accumulation must be known.
Note –Carrier phase measurements are not necessarily in sync with
code phase measurement for each measurement epoch.
This is the number of times the tracking software has completed full
satellite signal searche.s
Search Count:
C/No:
Ten measurements of carrier to noise ratio(C/No) values in dBHZ at
input to the receiver.Each value represents 100 ms of tracker data and
its sampling time is not necessarily in sync with the code phase
measurement.
Power Loss
Count:
The number of times the power detectors fell below the threshold between the
present code phase sample and the previous code phase sample. This task is
performed every 20 ms (max count is 50).
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Phase Loss
Count:
The number of time the phase lock fell below the threshold between the
present code phase sample and the previous code phase sample. This task is
performed every 20 ms (max count is 50).
Integration
Interval:
The time in ms for carrier phase accumulation . This is the time difference (as
calculated by the user clock) between the Carrier Phase(current) and the
Carrier Phase(previous).
Track Loop
Iteration:
The tracking Loops are run at 2 ms and 10 ms intervals. Extrapolation values
for each interval is 1 ms and 5 ms for range computations.
channel measurements are NOT
Calculation of Pseudo-Range
Measurements
taken at the same time. Therefore, all
ranges must be extrapolated to a
The pseudo-range measurement in meters
can be determined from the raw track data
by solving the following equation:
Pseudo-range (PR) = {Received Tine
(RT) – Transmit Time (TT)} * C
where C = speed of light
common measurement epoch. For
simplicity, the first channel of each
measurement set is used as the
reference to which all other
measurements are extrapolated.
4. Extrapolate the pseudo-range based
on the correlation interval to improve
precision.
The following variables from the raw track
data are required for each satellite:
Bit Number (BN) – 50 bits per second
Millisecond Number (MSN)
5. Compute the delta range.
If the accumulation time of the Dalta Carrier
Phase is 1000 ms then the measurement is
valid and can be added to the previous Delta
Carrier Phase to get Accumulated Carrier
Phase data. If the accumulation time of the
Delta Carrier Phase is not equal to 1000 ms
then the measurement is not valid and the
accumulation time must be restarted to get
Accumulated Carrier Phase data.
Chip Number (CN)
Code Phase (CP)
Receiver Time Tag (RTTag)
Delta Carrier Phase (DCP)
The following steps are taken to get the psr
data and carrier data for each measurement
epoch.
1. Computation of initial Receiver
Time(RT) in seconds. Note-Where the
initial arbitrary value chosen at start
up to make the PR reasonable
(i.e.,set equal to TT+70ms) and then
incriminated by one second for each
measurement epoch.
Response :Software Version
String – Message I.D.6
Output Rate:Response to polling message
Example:
A0A20015 – Start Sequence and Payload
Length
2. Computation of Transmit Time (TT) in
seconds.
0606312E322E30444B495431313920534
D0000000000-Payload
3. Calculate Pseudo-range at a common
receiver time of the first channel of
the measurement data set. Note-All
0382B0B3 – Message Checksum and End
Sequence
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Table 49 Software Tracker Data Out
Binary(Hex)
Scale Example
ASCII(Decimal)
Scale Example
Name
Message ID
Character
Bytes
1
20
Units
06
1
6
2
Payload Length: 21 bytes
Note – Convert to symbol to assemble message (i.e., 0x4E is ’N’). These are low priority task and
are not necessarily output at constant intervals.
Response :Clock Status Data – Message I.D.7
Output Rate:1Hz or response to polling message
Example:
A0A20014 – Start Sequence and Payload Length
0703BD021549240822317923DAEF – Payload
0598B0B3 – Message Checksum and End Sequence
Table 50 Clock Status Data Message
Binary(Hex)
Scale Example
ASCII(Decimal)
Example
Name
Message ID
GPS Week
GPS TOW
Svs
Clock Drift
Clock Bias
Estimated GPS
Time
Bytes
Units
Scale
1
2
4
1
4
4
4
07
03BD
02154924
08
7
957
349494.12
8
74289
*100
S
/100
2231
7923
DAEF
Hz
ns
ms
128743715
349493999
Payload Length:20 bytes
08******** - Payload
50BPS Data – Message I.D.8
****B0B3 – Message Checksum and End
Sequence
Output Rate:As available (12.5 minute
download time)
Example:A0A2002B – Start Sequence and
Payload Length
Table 51 Clock Status Data Message
Binary(Hex)
ASCII(Decimal)
Name
Message ID
Channel
Sv ID
Bytes
1
1
Units
Scale
Example
08
Scale
Example
8
1
Word [10]
40
Payload Length:43 bytes per subframe
(6subframes per page, 25 pages
Almanac)
Note – Data is logged in ICD format
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Example:A0A20009 – Start Sequence and
Payload Length
09003B0011001601E5 – Payload
0151B0B3 – Message Checksum and End
Sequence
CPU Throughput – Message I.D.9
Output Rate:1 Hz
Table 52 CPU Throughput
Binary(Hex)
ASCII(Decimal)
Name
Message ID
SegStatMax
SegStatLat
AveTrkTime
Last MS
Bytes
Units
Scale
Example
09
003B
0011
0016
01E5
Scale
Example
9
.3172
.0914
.1183
485
1
2
2
2
2
*186
*186
*186
ms
ms
ms
ms
/186
/186
/186
Payload Length: 9 bytes
0x92)request example:
Command Acknowledgment –
Message I.D.11
A0A20002 – Start Sequence and
Payload Length
Output Rate: Response to successful
input message
0B92 – Payload
009DB0B3 – Message Checksum and
End Sequence
This is successful almanac (message ID
Table 53 Command Acknowledgment
Binary(Hex)
Scale Example
ASCII(Decimal)
Name
Message ID
Ack.I.D.
Bytes
1
1
Units
Scale
Example
11
0B
92
146
Payload Length: 2 bytes
ID 0x92) request example:
Command N Acknowledgment –
Message I.D. 12
A0A20002 – Start Sequence and Payload
Length
Output Rate: Response to rejected Input
message
0C92 – Payload
009EB0B3 – Message Checksum and
End Sequence
This is unsuccessful almanac (message
Table 54 Command N Acknowledgment
Binary(Hex)
ASCII(Decimal)
Name
Message ID
N Ack. I.D
Bytes
1
1
Units
Scale
Example
0C
Scale
Example
12
146
92
Payload Length:2 bytes
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Payload Length
Visible List – Message I.D.13
Output Rate:Updated approximately every
2minutes. Note – This is a variable length
message. Only the number of visible
0D080700290038090133002C*************
****** - Payload
****B0B3 – Message Checksum and End
Sequence
satellites are reported(as define by visible
Svs in Table 55), Maximum is 12 satellites
Example:A0A2002A – Start Sequence and
Table 55 Visible List
Binary(Hex)
Scale Example
ASCII(Decimal)
Name
Message ID
Visible Svs
Bytes
Units
Scale
Example
1
1
1
2
2
1
2
2
0D
08
07
0029
0038
09
0133
002C
13
8
7
41
56
9
307
44
CH 1 –Sv I.D
CH 1 –Sv Azimuth
CH 1 –Sv Elevation
CH 2 –Sv I.D
CH 2 –Sv Azimuth
CH 2 –Sv Elevation
……
Degrees
Degrees
Degrees
Degrees
Payload Length:62 bytes(maximum)
and Payload Length
Almanac Data – Message I.D.14
Output Rate:Response to poll
0E01************* - Payload
****B0B3 – Message
Example :A0A203A1 – Start Sequence
checksum and End Sequence
Table 56 Visible List
Binary(Hex)
Scale Example
ASCII(Decimal)
Name
Message ID
Sv I.D.(1)
Bytes
1
1
Units
Scale
Example
0E
01
14
1
Almanac Data[14][2]
….
28
Sv I.D.(32)
1
20
32
Almanac Data[14][2]
28
Payload Length: 929 bytes(maximum)
OkToSend - Message I.D. 18
Output Rate: Trickle Power CPU on/off indicator
Example:
A0A20002—Start Sequence and Payload Length
1200—Payload
0012B0B3—Message Checksum and End Sequence
Table B- 52 Almanac Data
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Binary(Hex)
Scale Example
ASCII(Decimal)
Scale Example
Name
Bytes
Units
Message ID
1
1
12
00
18
00
Send indicator1
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
Navigation Parameters (Response to Poll) – Message I.D. 19
Output Rate:1 Response to Poll
Example:
A0A20018—Start Sequence and Payload Length
130100000000011E3C0104001E004B1E00000500016400C8—Payload
022DB0B3—Message Checksum and End Sequence
Table B- 53 Navigation Parameters
Binary(Hex)
Scale Example
ASCII(Decimal)
Name
Message ID
Reserved
Altitude Hold Mode
Altitude Hold Source
Altitude Input Source
Degraded Mode1
Degraded Timeout
DR Timeout
Bytes
Units
Scale
Example
19
1
4
1
1
2
1
1
1
1
1
1
4
1
2
13
00000000
00
00
0000
01
0
0
0
meters
1
1E
3C
01
seconds
seconds
30
60
1
Track Smooth Mode
Static Navigation
3SV Least Squares
Reserved
DOP MASK Mode2
Navigation Elevation
Mask
04
4
Navigation Power Mask
Reserved
1
4
1
1
1
4
1
4
4
1
4
1
DGPS Source
DGPS Mode3
00
0
DGPS Timeout
Reserved
LP Push-to-Fix
LP On-Time
1E
seconds
30
LP Interval
LP User Tasks Enabled
LP User Task Interval
LP Power Cycling
Enabled
LP Max. Acq. Search
Time
4
LP Max. Off Time
Reserved
Reserved
4
4
4
Payload Length: 65 bytes
1. See Table 22.
2. See Table 24.
3. See Table 26.
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Length
Navigation Library Measurement
Data - Message I.D. 28
1C00000660D015F143F62C4113F42FF3FB
E95E417B235C468C6964B8FBC5824
15CF1C375301734.....03E801F400000000
—Payload
Output Rate: Every measurement cycle (full
power / continuous : 1Hz)
Example:
1533B0B3—Message Checksum and End
Sequence
A0A20038—Start Sequence and Payload
Table B- 54 Measurement Data
Binary(Hex)
Scale Example
ASCII(Decimal)
Name
Message ID
Channel
Time Tag
Satellite ID
Bytes
Units
Scale
Example
28
1
1
4
1
8
1C
00
000660D0
15
F143F62C
4113F42F
F3FBE95E
417B235C
468C6964
B8FBC582
415CF1C3
7530
ms
GPS Software Time
ms
Pseudo Range
8
m
Carrier Frequency
Carrier Phase
4
8
Time in Track
Sync Flags
C/No1
C/No2
C/No3
C/No4
C/No5
C/No6
C/No7
C/No8
C/No9
C/No10
Delta Range Interval
Mean Delta Range Time
Extrapolation Time
Phase Error Count
Low Power Count
2
1
1
1
1
1
1
1
1
1
1
1
2
2
2
1
1
ms
17
34
03E801F4
01F4
0000
00
m
ms
ms
00
Payload Length: 56 bytes
A0A2001A—Start Sequence and Payload
Length
Navigation Library DGPS Data -
Message I.D. 29
1D000F00B501BFC97C673CAAAAAB3FBF
FE1240A0000040A00000—Payload
0956B0B3—Message Checksum and End
Sequence
Output Rate: Every measurement cycle (full
power / continuous : 1Hz)
Example:
Table B- 55 Measurement Data
Binary(Hex)
ASCII(Decimal)
Name
Message ID
Bytes
Units
Scale
Example
1D
000F
00B5
01
Scale
Example
1
2
2
1
29
15
181
1
Satellite ID
IOD
Source1
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Pseudo-range Correction
Pseudo-range Rate
Correction
BFC97C67
3CAAAAAB m/s
3217652839
1017817771
4
4
m
Correction Age
Reserved
Reserved
3FBFFE12
1069547026
4
4
4
s
Payload Length: 26 bytes
1. 0 = Use no corrections, 1 = Use WAAS channel, 2 = Use external source, 3 = Use Internal
Beacon, 4 = Set DGPS Corrections
A0A20053—Start Sequence and Payload
Navigation Library SV State Data -
Length
Message I.D. 30
1E15....2C64E99D01....408906C8—Paylo
Output Rate: Every measurement cycle (full
ad
power / continuous : 1Hz)
2360B0B3—Message Checksum and End
Example:
Sequence
Table B- 56 SV State Data
Binary(Hex)
Scale Example
ASCII(Decimal)
Scale Example
Name
Message ID
Bytes
Units
1
1
8
8
8
8
8
8
8
8
4
1
8
4
1E
15
30
21
Satellite ID
GPS Time
Position X
Position Y
Position Z
Velocity X
Velocity Y
Velocity Z
Clock Bias
Clock Drift
Ephemeris Flag1
Reserved
s
m
m
m
m/s
m/s
m/s
s
2C64E99D
01
744810909
1
s
Ionospheric Delay
408906C8
1082721992
m
Payload Length: 83 bytes
1. 0 = no valid SV state, 1 = SV state calculated from ephemeris, 2 = Satellite state calculated from almanac
1F....00000000000001001E000F....00....000
000000F....00....02....043402....
....02—Payload
Navigation Library Initialization Data -
Message I.D. 31
Output Rate: Every measurement cycle (full
power / continuous : 1Hz)
0E27B0B3—Message Checksum and End
Sequence
Example:
A0A20054—Start Sequence and Payload
Length
Table B- 57 Measurement Data
Binary(Hex)
Scale Example
1F
ASCII(Decimal)
Name
Message ID
Reserved
Bytes
1
1
Units
Scale
Example
31
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Altitude Mode1
Altitude Source
Altitude
1
1
4
1
2
2
2
1
1
2
2
2
1
2
2
2
1
2
1
2
1
2
8
8
8
1
8
2
1
8
1
00
00
00000000
01
001E
000F
0
0
0
1
30
15
Degraded Mode2
Degraded Timeout
Dead-Reckoning Timeout
Reserved
Track Smoothing Mode3
Reserved
Reserved
Reserved
00
0
Reserved
DGPS Selection4
DGPS Timeout
Elevation Nav. Mask
Reserved
00
0000
000F
0
0
15
Reserved
Reserved
Reserved
Reserved
Static Nav. Mode5
Reserved
00
02
0
2
Position X
Position Y
Position Z
Position Init. Source6
GPS Time
GPS Week
0434
02
1076
2
Time Init. Source 7
Drift
Drift Init. Source 8
02
2
Payload Length: 84 bytes
1. 0 = Use last know altitude 1 = Use user
input altitude 2 = Use dynamic input from
external source
6. 0 = ROM position
1 = User position
2 = SRAM position
3 = Network assisted position
7. 0 = ROM time
2. 0 = Use direction hold and then time hold
1 = Use time hold and then direction hold
2 = Only use direction hold
1 = User time
3 = Only use time hold
2 = SRAM time
4 = Degraded mode is disabled
3. 0 = True and 1 = False
3 = RTC time
4 = Network assisted time
8. 0 = ROM clock
1 = User clock
4. 0 = Use DGPS if available
1 = Only navigate if DGPS corrections are
available
2 = SRAM clock
2 = Never use DGPS corrections
5. 0 = True 1 = False
3 = Calibration clock
4 = Network assisted clock
RoyalTek Navigation Data – Message I.D.100
Output Rate: 1Hz
and Payload Length
Example :A0A2001A – Start Sequence
6407D1*********** - Payload
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****B0B3 – Message
checksum and End Sequence
Table 57 Royaltek Navigation Data
Binary(Hex)
Scale Example
ASCII(Decimal)
Name
Message ID
Year
Month
Day
Hours
Minutes
Seconds
Degree of Latitude
Minutes of Latitude
Degree of Longitude
Minute of Longitude
Altitude
Validity
Speed
Course over ground
PDOP
HDOP
Bytes
Units
Scale
Example
100
1
2
2
2
2
2
4
2
4
2
4
4
1
2
2
2
2
2
64
07D1
000C
0005
2001
12
5
0011
17
30
001E
5202
*1000
Sec.
degree
Min.
degree
Min.
20.994
25
9.8700
121
17.8788
250
÷1000
÷10000
÷10000
19
*10000
*10000
0001818C
79
0002BA64
000000FA
01
meter
1
*10
0064
Km/h
Degree
10.0
128
÷10
0080
*10
*10
*10
012C
012C
012C
30.0
30.0
30.0
÷10
÷10
÷10
VDOP
Payload Length: 42 bytes. This protocol is provided from RoyalTek firmware Ver. 1.7. release
*hh<CR><LF> Check Sum and sentence termination delimiter
*
Set Ephemeris – Message I.D.254
This command enables the user to upload an ephemeris to the Evaluation unit.
Note – This feature is not documented in this manual . For information on implementation contact
SiRF Technology Inc.
Development Data – Message I.D.255
Output Rate: Receiver generated
Example :A0A2**** - Start Sequence and Payload Length
FF************* - Payload
****B0B3 – Message Checksum and End Sequence
Table 58 Development Data
Binary(Hex)
Scale Example
ASCII(Decimal)
Scale Example
Name
Bytes
Units
Message ID
1
FF
255
Payload Length:Variable
Note – Messages are output to give the
user information of receiver activity.
Convert to symbol to assemble message
(i.e., 0x4E is ‘N’) these are low priority task
and are not necessarily output at constant
intervals.
45
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GPS Receiver User’s Tip
1. GPS signal will be affected by weather and environment conditions, thus suggest to use the GPS
receiver under less shielding environments to ensure GPS receiver has better receiving performance.
2. When GPS receiver is moving, it will prolong the time to fix the position, so suggest to wait for the
satellite signals to be locked at a fixed point when first power-on the GPS receiver to ensure to lock
the GPS signal at the shortest time.
3. The following situation will affect the GPS receiving performance:
a.
b.
c.
d.
e.
Solar control filmed windows.
Metal shielded, such as umbrella, or in vehicle.
Among high buildings.
Under bridges or tunnels.
Under high voltage cables or near by radio wave sources, such as mobile phone base
stations.
f.
Bad or heavy cloudy weather.
4. If the satellite signals can not be locked or encounter receiving problem (while in the urban area), the
following steps are suggested:
a. Please plug the external active antenna into GPS receiver and put the antenna on outdoor or the
roof of the vehicle for better receiving performance.
b. Move to another open space or reposition GPS receiver toward the direction with less blockage.
c. Move the GPS receiver away from the interferences resources.
d. Wait until the weather condition is improved.
5. While a GPS with a backup battery, the GPS receiver can fix a position immediately at next power-on
if the build-in backup battery is full-recharged.
Contact Information Section
ꢁHEADQUARTER :
Add : 1071 Chung Cheng Rd., Suite 9F-1
Tao Yuan City , Taiwan , R.O.C.
Tel ：886 – 3 - 3569666
Fax ：886 – 3 - 3560900
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