REV-2000 Operational Manual
RoyalTek Evaluation Kit
REV-2000 Operational Manual
Version 1.1
2001/7/4
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.
1071, Chung Cheng Rd., Suite 9F-1
Tao Yuan City, Taiwan, R.O.C.
TEL: 886-3-3569666
FAX: 886-3-3580050
E-Mail: sales@royaltek.com
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RoyalTek GPS Receiver REB-2000/REB-12R
REV-2000 Operational Manual
LLA Navigation Initialization .............................................................................................................16
Development Data On/Off................................................................................................................16
Calculating Checksums for NMEA Input ..........................................................................................17
SIRF BINARY PROTOCOL ........................................................................................................................17
INPUT MESSAGES FOR SIRF BINARY PROTOCOL .......................................................................................18
Initialize Data Source-Message I.D. 128 ..........................................................................................18
Switch To NMEA Protocol – Message I.D. 129 ................................................................................19
Set Almanac- Message I.D. 130.......................................................................................................20
Software Version – Message I.D. 132..............................................................................................20
Mode control – Message I.D .136.....................................................................................................21
DOP Mask Control – Message I.D. 137 ...........................................................................................21
DGPS Control – Message I.D.138....................................................................................................22
Elevation Mask – Message I.D.139..................................................................................................22
Power Mask – Message I.D.140 ......................................................................................................23
Steady State Detection – Message I.D.142......................................................................................23
Static Navigation – Message I.D.144 ...............................................................................................23
Set DGPS Serial Port – Message I.D 145........................................................................................24
Almanac – Message I.D.146 ............................................................................................................24
Ephemeris Message I.D.147............................................................................................................24
Switch To SiRF Protocol...................................................................................................................25
Switch Operating Modes - Message I.D. 150...................................................................................25
Set Trickle Power Parameters - Message I.D. 151...........................................................................25
Computation of Duty Cycle and On Time.........................................................................................26
Push-to-Fix.......................................................................................................................................26
Poll Navigation Parameters - Message I.D. 152...............................................................................27
OUTPUT MESSAGES FOR SIRF BINARY PROTOCOL....................................................................................27
Measure Navigation Data Out – Message I.D.2...............................................................................27
Measured Tracker Data Out – Message I.D.4..................................................................................29
Raw Tracker Data Out – Message I.D.5...........................................................................................30
Calculation of Pseudo-Range Measurements..................................................................................31
Response :Software Version String – Message I.D.6....................................................................32
Response :Clock Status Data – Message I.D.7.............................................................................32
50BPS Data – Message I.D.8 ..........................................................................................................33
CPU Throughput – Message I.D.9 ...................................................................................................33
Command Acknowledgment – Message I.D.11................................................................................34
Command N Acknowledgment – Message I.D. 12...........................................................................34
Visible List – Message I.D.13...........................................................................................................34
Almanac Data – Message I.D.14......................................................................................................35
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RoyalTek GPS Receiver REB-2000/REB-12R
REV-2000 Operational Manual
Set Ephemeris – Message I.D.254...................................................................................................35
Development Data – Message I.D.255.............................................................................................35
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RoyalTek GPS Receiver REB-2000/REB-12R
REV-2000 Operational Manual
Introduction
REV-2000 is an evaluation kit for RoyalTek GPS engine board series, REB-12R2/R6/ REB-2000/
REB-2001.It is convenient to test the GPS performance,cold start / warm start / hot start,position
update and so on by using the REV-2000. REV-2000 helps you understand the operation and
performance of Royaltek’s GPS engine boards in a couple of minutes. It can also provide you design
the OEM products that use RoyalTek’s GPS engine boards.
Packing list
The evaluation kit contains follows:
1
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RoyalTek GPS Receiver REB-2000/REB-12R
REV-2000 Operational Manual
REV-2000
1.
Evaluation
3. RS232 Cable
Power Core
2.
BNC to MCX
Cable
4.
5. GPS active
antenna
No.
Items
Specification
Quantity
Description
PROVIDE POWER FOR GPS
ENGINE BOARD AND CONVERT
THE SIGNAL FROM TTL TO
RS-232 CONNECTING TO PC.
REV-2000
Evaluation Board
1
68*88mm
1
AC/DC ADAPTOR. THERE ARE
TWO TYPES OF ADPATOR, 110V
AND 220V.
AC 110V or 220V
7.5V/1.0A/2.5mm/1.8M
2
3
Power Core
1
1
RS-232 CABLE CONNECTING
EVALUATION BOARD WITH PC.
RS232 Cable
9pin/1.5M
150mm
RF EXTENSION CABLE FOR MCX
TO BNC. IF YOU ORDER THE
MMCX ANTENNA FOR REB-2000,
YOU DON’T NEED TO ORDER
THIS EXTENSION CABLE. PLEASE
CONTACT
RF Extension Cable
(Optional)
4
1
1
FURTHER INFORMATION.
5
6
GPS active antenna
5M
GPS ACTIVE ATENNA.
THERE ARE TWO KINDS OF GPS,
REB-12R AND REB-2000 SERIES.
PLEASE SELECT THE DESIRED
ON.
GPS receiver
(Optional)
REB-12R or REB-2000
2
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RoyalTek GPS Receiver REB-2000/REB-12R
REV-2000 Operational Manual
Getting started
To Setup REV-2000
The interface of REV-2000 is shown as follows:
VBT
Backup battery input 2.5V ~ 3.1V
DC input
CON20 REB-12R2 connector
+6.5V ~
CON12 REB-2000/REB-2100
Power
RESET switch
BOOT jumper
Open: Normal operation
Short: Program upgrade
Power mode
jumper J1
Open: +5V
Short: +3.3V
P1 NMEA / SiRF protocol
port
P2 DGPS RTCM-104 port
Connecting to PC/Laptop
Power mode jumper J1
waiting for program upgrade and output
nothing when running SiRF demo program.
Please refer the program upgrade session for
program update.
The power core of REV-2000 is 110V AC/ 7.5V
DC adaptor. It converts the 110 AC to DC.
RoyalTek can also provide you 220V AC power
core. Beware of the AC power of your office
and tell RoyalTek’s sales person for preparing
the correct power code for you.
DC input
The power input can be DC input instead of
using AC power core. The input range of the
DC input is from 6.5V ~ 12V. We suggest
you use +7.5V as the DC input.
Reset
REV-2000 provides 3 power modes on borad,
3.3V and 5V. JP1: Open for +5V, Short for 3.3V.
The 3.3V is for REB-2000/ REB-2100. The 5V
is for REB-12R2.
BOOT jumper
It is used for external reset.
VBT
The BOOT jumper is for program upgrade. It
shall be kept open for normal operation. When
the BOOT is short, the GPS engine board is
This is for RAM backup power of
REB-2000/REB-2100 and REB-12R2. The
3
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RoyalTek GPS Receiver REB-2000/REB-12R
REV-2000 Operational Manual
input range is from 2.5V ~ 3.1V DC.
Setup procedure
P1
(1) Plug the REB-12R2 on the CON20
(2) Plug the active antenna into the external
antenna connector. The suitable view
angle of the active antenna is necessary.
Caution: Please do not put any metal
stuff on the antenna.
This is NMEA/SiRF protocol output/input port.
Please connect it to PC or Laptop RS-232
port.
P2
This is DGPS input port.
CON12
(3) Connecting the RS-232 cable between
REV-2000 P1 and PC.
This is the socket for REB-2000/REB-2100.
Please refer the hardware interface section
for the pin assignment.
(4) Plug the power core. (or connecting the
DC power input, 6.5V ~ 12V)
CON20
After you finish setup, it is like as follows:
This is the socket for REB-12R2. Please
refer the hardware interface section for the
pin assignment.
Active
GPS antenna
AC
PC COM1 or COM2
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RoyalTek GPS Receiver REB-2000/REB-12R
REV-2000 Operational Manual
PC COM1
(2) Choose the “Supplied Data” radio button.
Click the “Instrument(Measured Data)”
check box.
To operate REV-2000
(3) Select the serial port, e.g. COM1. The
default baud rate of REB-2100 and
Reb-12R2 is 9600bps. Click the OK.
(4) There are 6 menus on the menu bar:
Setup, View, Action, Navigation, Poll and
Window.
Install the SiRFDemo.exe
Copy the SiRFDemo.exe from the CD-ROM
\Toolkit\SiRFDemo.exe to the destination path,
e.g. “c:\RoyakTek\REV-2000\Demo.exe”. Add
a shortcut of SiRFdemo.exe on the desktop of
Windows 98.
To use Sirfdemo.exe
(1) Double click the SiRFdemo.exe.
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REV-2000 Operational Manual
Connect/
Disconnect
Data
Signal Level
view
Tracking
Toggle button
source
Tracking view
Map
Signal Level
Map
Development view
“Map view”.
(5) Click the “Signal level”, “Tracking”, “Map”
buttons of the tool bar to enable the
(6) Check the View / Messages /
Development to enable the development
view.
“Signal level view”, “Tracking view” and
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RoyalTek GPS Receiver REB-2000/REB-12R
REV-2000 Operational Manual
(7) Click the
to start testing.
: Initialize Data Source
(8) The other buttons of tool bar are explained
as follows:
(9) After you click the
, you can see the
NMEA output on the development view.
: Pause the data reception.
:Log the data as a *.log file.
To switch from NMEA to SiRF protocol
Check Action / Switch to SiRF Protocol.
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RoyalTek GPS Receiver REB-2000/REB-12R
REV-2000 Operational Manual
You could see the following screen after you switch to SiRF protocol.
12-Channel Signal Level Data:
Information Displayed
Satellite Number (SV)
Description
GPS satellite PRN number
Status (St)
Satellite status
Azimuth (Az)
Elevation (EI)
C/No
Satellite azimuth (in degrees)
Satellite elevation (in degrees)
Signal level (in dB-Hz)
5-second history
Signal Level (-5 sec)
Tracking view:
used to calculate the navigation
solution.
Green: Satellite is tracked and used to
calculate the navigation solution.
Blue: Satellite is tracked but is not
Red: Satellite is lost tracked.
Development data view: It is for
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RoyalTek GPS Receiver REB-2000/REB-12R
REV-2000 Operational Manual
development purpose not for user.
Map View: Demonstrate the GPS time,
Latitude, Longitude, Altitude and
Navigation mode etc.
Click the
button to initialize data
source. It provides the cold start, warm
start and hot start test functions. The
receiver initialization view is like follows:
Initialize Data Source
The definition of cold start, warm start and hot start is described as following table:
Option
Hot Start
Description
The Evaluation Unit restarts by using values stored in the internal of the GPS
receiver.
Warm Start (No init) This option has the same functionality as Hot Start except that Ephemeris data
and retains all other data.
Warm Start (init)
This option clears all initialization data in the GPS receiver and subsequently
reloads the data that is currently displayed in the GPS receiver initialization is
cleared.
Cold Start
This option clears all data that is currently stored in the internal memory of the
GPS receiver including position, almanac, ephemeris, time, and clock drift.
To switch from SiRF protocol to NMEA protocol
(1)Select the “Action/Switch to NMEA Protocol” like follows.
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RoyalTek GPS Receiver REB-2000/REB-12R
REV-2000 Operational Manual
(2) After you select the “Switch to NMEA Protocol”, it will show up a “Select NMEA Messages” dialog.
Select the NMEA Messages that you want to use.
(3) Determine the update rate for each NMEA
message
protocol/baud rate is set in REB-2100 or
REB-12R2, you can use this option to
synchronize protocol. Select the
Action/Synchronize Protocol and Baud Rate.
It will synchronize the protocol and Baud
Rate.
(4) Select the baud rate that you want to use
from the Baud Rate pull down menu.
(5) Click the OK button to save or Cancel
button to exit
(6) It will switch to NMEA protocol.
To Switch Trickle Power Parameters
from SiRFDemo.exe
To Synchronize Protocol
When you don’t know what the
There are two modes of low power operation:
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RoyalTek GPS Receiver REB-2000/REB-12R
REV-2000 Operational Manual
(1) Trickle power: In TricklePower mode, the
power to is cycled periodically, so that it
operates only a fraction of the time.
REB-2100 has the default trickle power
parameters: OnPeriod: 300ms, Update
rate: 1 second. REB-12R2 does not
provide the trickle power feature.
can be provided quickly after power-up.
REB-2100 provides push to fix function
but it is disabled default. REB-12R2 does
not provide this function.
It provides the trickle power operation in
REB-2100 default. REB-12R2 doesn’t support
the trickle power now. To enable trickle power
mode from SiRFdemo.exe, please select the
“Action/Set TricklePower Parameters” like
following picture.
(2) Push to fix: In Push-to-Fix mode, the
receiver is generally off, but turns on
frequently enough to collect ephemeris.
So that, upon user request, a position fix
Then, it will show a “TricklePower parameters”
dialog for parameters setting. There are two
parameters of Trickle power that needs to be
set, “Update Rate and On Time”. The “Update
Rate” means the navigation update frequency.
For example, “1 sec” means output once per
second and “2 sec” means output once per 2
seconds. The “On time” means running time in
the output period. For example, “200 ms”
means the running time is 200 ms per
navigation update. The duty cycle of trickle
power is determined by setting of “Update Rate”
and “On Time”. For example, if the “Update
Rate” is 1 sec and “On time” is 200ms, the duty
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RoyalTek GPS Receiver REB-2000/REB-12R
REV-2000 Operational Manual
cycle is 200ms/1000ms = 20%. If the “Update
Rate” is 2 sec and “On Time” is 300 ms, the
duty cycle is 300ms/2000ms = 15%. The duty
cycle is limited to 5% ~ 50%. Since it will do
some estimation in trickle power, please tune
the proper duty cycle that can compromise the
power consumption and acceptable navigation
performance. The “ricklePower Prameters”
dialog is shown as following picture.
Message I.D. 129” to switch back to
NMEA protocol.
To change TricklePower parameters
of REB-2100 from 12 pins interface.
Since it is NMEA output default, it needs to
change to SiRF protocol before change
TricklePower parameters. The procedure is
described as follows:
To upgrade GPS engine board
program
(1) Turn off the power.
(1) Use “Set Serial Port” command of SiRF
NMEA input messages.
(2) Keep the BOOT jumper short.
(3) Turn on the power.
$PSRF100,0,9600,8,1,0*0C<CR><LF>
It will switch from NMEA to SiRF protocol.
(2) Use “Set Trickle Power Parameters -
Message I.D. 151” to set the trickle power
parameters.
(4) Run the SiRFProg.exe.
(5) Select the Target Loader File. Select
dltarget.s for REB-12R2/R1. Select
dlgsp2.bin for REB-2100.
(6) Select the Target file that need to be
programmed into flash memory.
(3) Use “Switch To NMEA Protocol –
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REV-2000 Operational Manual
(7) Select the COM port. Keep the Baud rate
at 19200 for REB-2100 and 9600 for
REB-12R2/R1.
memory.
(10) When you finish upload, turn off the power.
Keep the BOOT jumper open and turn on
power. It will run the new program that
uploaded into flash memory.
(8) If you want to upload program to
Reb-2100, please assert the GPS2 check
box. But leave it unasserted for
Reb-12R2/R1.
(9) Click Upload to begin programming flash
—ꢀ 12 parallel channels
—ꢀ 0.1 second re-acquisition time.
—ꢀ Trickled power enabled for power
saving.
Product Features
REB-2100
—ꢀ OEM product development is fully
supported through applications
engineering and WEB technique
forum.
—ꢀ Enhanced algorithm for navigation
stability.
—ꢀ NMEA-0183 compliant
protocol/custom protocol.
—ꢀ WAAS demodulator
—ꢀ Small and compact footprints
measuring “ ”.
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RoyalTek GPS Receiver REB-2000/REB-12R
REV-2000 Operational Manual
—ꢀ Excellent sensitive for urban canyon
and foliage environments.
—ꢀ Timing application
REB-12R
—ꢀ Single satellite positioning.
—ꢀ Dual multi path rejection.
REB-12R
—ꢀ Automotive applications
—ꢀ Personal positioning and navigation
—ꢀ Marine navigation
—ꢀ OEM product development is fully
supported through applications
engineering and WEB technique
forum.
—ꢀ Timing application
Technique description
—ꢀ 12 parallel channels
REB-2100
—ꢀ 0.1 second re-acquisition time.
—ꢀ Enhanced algorithm for navigation
stability.
General information. The REB-2100 is a
stamp size GPS receiver. It requires +3.3V DC
power input. It can operate with an active
antenna through a MMCX connector. It
provides the antenna power through RF cable.
The default DC input of active antenna is 3.3V
+/- 10%. Since it needs 4 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 a
good satellites geometry (PDOP <= 10). 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 s re-acquisition
capability can make it determine the position
right away through the cross-intersection.
—ꢀ NMEA-0183 compliant
protocol/custom protocol.
—ꢀ Excellent sensitive for urban canyon
and foliage environments.
—ꢀ Single satellite positioning.
—ꢀ Dual multi path rejection.
Product applications
REB-2100
—ꢀ Portable IA device for personal
navigation/ position commerce
(P-Commerce)
—ꢀ Automotive applications
—ꢀ Personal positioning and navigation
—ꢀ Marine navigation
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RoyalTek GPS Receiver REB-2000/REB-12R
REV-2000 Operational Manual
Pin 1
Pictures
MMCX
Pin
REB-2100 System Block Diagram
Active antenna
LNA
Flash Memory
12 pins
SiRF
SIRF GRF2I
SAW Filter
GSP2e
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RoyalTek GPS Receiver REB-2000/REB-12R
REV-2000 Operational Manual
REB-12R
Pin
MCX
REB-12R Block diagram
Active antenna
Flash
SiRF
LNA
20 pins
GSP2e
Hitachi
SH1
Ceramic
SIRF
Filter
SRAM
Snap start:2second, average
Technique specifications
REB-2100.
Hot start
8second, average
Warm start 45second, average
Cold start 60second, average
Reacquisition:0.1 second, average
Operational Characteristics.
12 Channels
L1, 1575.42MHz.
Navigation update rate
second.
Once per
C / A code, 1.023MHz chip rate.
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REV-2000 Operational Manual
Datum: WGS-84.
Accuracy.
Acceleration
4 g. , Max.
Power Requirements.
Position accuracy 25m CEP without SA
Velocity accuracy:0.1 meters/second
without SA
Regulated power for the REB-2000/
REB-2100 is required. The input voltage
shall be 3.3V ± 10 %. The power of active
antenna is supplied by
DGPS Accuracy.
Position:1 to 5 m, typical
Velocity: 0.05 meters/second, typical
Dynamics.
REB-2000/REB-2100. It doesn’t need to
supply the antenna from outside of
REB-2000/REB-2100. The full run (without
trickle power) maximum current is less
than 170mA.
Altitude
Max.
18000 meters (60000 feet)
Velocity
515 meters / second Max.
Physical.
REB-2100 Dimension.
PinHeader1.27mm
12Px1
180
7.75
7.75
3.5
24.5
2- 2.6mm
1.27
3.5
5
5
6
24.3
3.7
31.5
27
1.3
1
26.7
30
5
6.5
10.6
40
Weight. 8.6g
Environment.
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REV-2000 Operational Manual
Temperature.
Humidity. ≦95% noncondensing.
RF connector
Storage temperature –10 ~ +85 Degree
(Celsius).
The RF connector is MMCX receptacle.
Active antenna.
Operating temperature -10 ~ +70 Degree
(Celsius).
GSP Antenna
Characteristics
Specification
Center frequency
Bandwidth
Gain at Zenith
Gain at 10° elevation
Polarization
1575.42 ± 1.023MHz
2MHz Min.
2.0 dBi Min.
-4.0 dBi Min.
R.H.C.P
Axial Ratio
4.0dB Max.
5V Filter/LNA:
Characteristics
Center frequency (fo)
Gain
Specification
1575.42 ± 1.023MHz
28dB Min.
Noise Figure
2.0dB Max.
Out band attenuation
2dB Min. fo ± 20MHz
12dB Min. fo ± 50MHz
22dB Min. fo ± 100MHz
2.0 dB max.
Output V.S.W.R.
Voltage
5.0 ± 0.5V
Current
12mA Max.
3.3V Filter/LNA:
Characteristics
Center frequency (fo)
Gain
Specification
1575.42 ± 1.023MHz
26dB Min.
Noise Figure
2.0dB Max.
Out band attenuation
2dB Min. fo ± 20MHz
12dB Min. fo ± 50MHz
22dB Min. fo ± 100MHz
2.0 dB max.
Output V.S.W.R.
Voltage
3.3 ± 0.3V
Current
12mA Max.
REB-12R.
Navigation update rate
second.
Once per
Operational Characteristics.
12 Channels
Datum: WGS-84.
Accuracy.
L1, 1575.42MHz.
C / A code, 1.023MHz chip rate.
Snap start:2second, average
Position accuracy 25m CEP without SA
Velocity accuracy:0.1 meters/second
without SA
Hot start
8second, average
Warm start 45second, average
Cold start 60second, average
Reacquisition:0.1 second, average
DGPS Accuracy.
Position:1 to 5 m, typical
Velocity: 0.05 meters/second, typical
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RoyalTek GPS Receiver REB-2000/REB-12R
REV-2000 Operational Manual
Dynamics.
%. The power of active antenna is
supplied through the 2nd pin of the
interface. The maximum current is less
than 180mA without antenna.
Physical.
Altitude 18000 meters (60000 feet) Max.
Velocity
515 meters / second Max.
4 g. , Max.
Acceleration
Power Requirements.
Regulated power for the REB-12R2 is
required. The input voltage shall be 5V ± 5
Dimension. 72mm x 41mm x 19mm
Pin header 2.0mm
10Px2
180
4- 3.2mm
8.1
1.9
3.18
C 3
6 R 4
R 4 0
R 2 1
U 6
D 2
U 7
3 R 1
2 C 1
C 5
R 4 1
5 R 4
3 C 1
64.77
71.13
U27
C51 C52
22.85
1.5
3.18
8.8
5.6
34.29
40.65
11.25
Weight. 23gw
Environment.
Temperature.
It is same as the one for REB-2100 except
the RF connector.
Storage temperature –55 ~ +100 Degree
(Celsius).
Operating temperature -40 ~ +85 Degree
(Celsius).
Humidity. ≦95% noncondensing.
RF connector.
The RF connector is MCX receptacle.
Active antenna.
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Ordering information
For the complete pricing and delivery information, please contact:
RoyalTek Company Ltd.
1071 Chung Cheng Rd.,Suite 9F-1,Tao Yuan City,Taiwan,R.O.C.
Tel: 886-3-3569666
Fax: 886-3-3560900
e-mail: sales@royaltek.com
Hardware interface
REB-2100.
PinNO Signal
Name
I/O
Description
Characteristics
DC +3.3V ± 10%.
TTL Level
Voh ≥ 2.4V
Vo1 ≤ 0.4V
1
2
VCC_3
TXA
I
O
+3.3V DC Power Input
NMEA Output
9600bps, 8 data bits, no
parity, 1 stop bit
Reserved
Ground
Reserved
Reserved
3
4
5
6
7
RXA
GND
GPIOA
TXB
G
I
RXB
RTCM 104 differential GPS TTL Level
input.
Voh ≥ 2.4V
Vo1 ≤ 0.4V
8
9
TIMEMA
RK
O
I
1PPS Time Mark Output. TTL Level
Voh ≥ 2.4V
Vo1 ≤ 0.4V
RESET
Reset Input, Active Low
Voh>VCC_3 -1.5V
Vol<0.3V
Reserved
10
11
VANT
VBAT
O
I
DC +3.3V ± 10%.
User Supply +2.5~3.1V DC DC + 2.5 ~ 3.1V
Power Input*
Reserved
Current ≤ 10uA
12
BOOTSE
T
VCC_3 DC Power Input
board. Connect all grounds.
Serial Data:RXA, RXB, TXA, and TXB
RoyalTek also provides the 3.3 V version
GPS receiver. This is the main power supply
for the Engine board. Use a regulated 3.3V
supply ( 10%).
The GPS Engine board supports two full
duplicated serial channels. All four
connections are at TTL levels, and all
support variable baud rates. A TTL to RS232
conversion is necessary to directly
GND
GND provides the ground for the Engine
7
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communicate with a PC serial port.
tied high.
RXA
TIMEMARK
This is the main receiving channel and is
used to receive software commands to the
Engine board from user written software.
RXB
This pin provides one pulse per second output from
the engine board which is synchronized to within one
microsecond of GPS time. The output is a TTL
negative level signal with negative logic.
VBAT
This is the auxiliary receive channel and is
used to input differential corrections to the
Engine board to DGPS navigation.
TXA
This is the battery backup supply that
powers the SRAM and RTC when main
power is removed. Typical current draw is 10
uA. 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.
This is the main transmit channel and is used
to output navigation and measurement data
to user written software.
TXB
Reserved.
RESET
BOOTSEL
This pin provides an active-low reset input to
the Engine board. It causes the board to reset
and start searching for satellites. PB Reset is
an optional input and, if not used, should be
This is for software upgrade when pull high
to 3.3V. It can be left non-connected for
normal operation because of internal 68kΩ
pull low resistor.
REB-12R LXHA version
PinNO
Signal
Name
I/O
Description
Characteristics
1
2
3
VANT
VCC_5
VBAT
I
I
I
Antenna DC Voltage
+5V DC Power Input
User Supply +3.3V DC DC +3.3V ± 10%.
Depending on the user requirement..
DC +5V ± 10%.
Power Input*
Reserved
Current ≤ 10mA
DC +3V ± 10%
4
5
Reserved
RESET
I
Reset Input, Active Low Vih>2.3V , Voh>VCC-1.5V
Vil<0.8V , Vol<0.4V
6
7
8
9
10
11
RESERVED
RESERVED
RESERVED
RESERVED
GND
-
-
-
-
G
O
Reserved
Reserved
Reserved
Reserved
Ground
TXA
NMEA Output
Voh ≥ VCC-0.5, Vo1 ≤ 0.4V, Ioh =
-200uA
Io1 = 1.6mA
VCC*0.7 ≤ Vih ≤ VCC+0.3V,
-0.3V ≤ Vil ≤ VCC*0.2V
9600bps, 8 data bits,
no parity, 1 stop bit
Serial Data Input A
12
RAX
I
13
14
GND
TXB
G
O
Ground
Serial Data Output B
Voh ≥ VCC-0.5, Vo1 ≤ 0.4V, Ioh =
-200uA
Io1 = 1.6mA
15
RXB
I
RTCM 104 differential
GPS input.
Ground
VCC*0.7 ≤ Vih ≤ VCC+0.3V
-0.3V ≤ Vil ≤ VCC*0.2V
16
17
GND
RESERVED
G
-
Reserved
8
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18
19
GND
TIMEMARK
G
O
Ground
1PPS Time Mark
Output.
Voh ≥ VCC-0.4V, Vo1 ≤ 0.4V, Ioh = 4mA
Io1 = 4mA
Pulse duration 100ms. Time reference is at
the pulse negative edge. Measurements are
aligned to GPS second,
1 microsecond.
20
RESERVED
-
Reserved
VCC_5 DC Power Input
TXA
This is the main power supply for the GPS
Engine board. Use a regulated 5V supply (
5%) capable of supplying 180mA.
VANT
This is the main transmit channel and is used
to output navigation and measurement data
to user written software.
TXB
DC voltage for an active antenna. This
voltage is not required for operation with a
passive antenna.
Reserved.
RESET
This pin provides an active-low reset input to
the Engine board. It causes the board to reset
and start searching for satellites. PB Reset is
an optional input and, if not used, should be
tied high.
VCC_3 DC Power Input
RoyalTek also provides the 3.3 V version
GPS receiver. This is the main power supply
for the Engine board. Use a regulated 3.3V
supply ( 5%).
TIMEMARK
GND
This pin provides one pulse per second output from
the engine board which is synchronized to within one
microsecond of GPS time. The output is a TTL
negative level signal with negative logic.
GND provides the ground for the Engine
board. Connect all grounds.
Serial Data:RXA, RXB, TXA, and TXB
VBAT
The GPS Engine board supports two full
duplicated serial channels. All four
connections are at TTL levels, and all
support variable baud rates. A TTL to RS232
conversion is necessary to directly
communicate with a PC serial port.
RXA
This is the battery backup supply that
powers the SRAM and RTC when main
power is removed. Typical current draw is 10
uA. 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.
This is the main receiving channel and is
used to receive software commands to the
Engine board from user written software.
RXB
This is the auxiliary receive channel and is
used to input differential corrections to the
Engine board to DGPS navigation.
9
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Absolute maximum ratings
REB-2000/REB-2100
Parameter
Supply voltage
Input pin voltage
Output pin voltage
Output current
RTC power
Symbol
VCC_3
Unit
V
V
V
mA
V
Min. Value
-0.3
Max. Value
3.6
VCC_3 + 0.3
VCC_3 + 0.3
±25
-0.3
-0.3
VBAT
1.5
3.6
REB-12R
Parameter
Supply voltage
RTC power
Symbol
VCC_5
VBAT
Unit
V
V
Min. Value
-0.3
Max. Value
6
3.6
-0.3
following NMEA-0183 messages:GGA, GLL,
GSA, GSV, RMC and VTG.
Software interface
NMEA V2.2 Protocol
NMEA Output Messages
It is the RS-232 interface:9600 bps, 8 bit
data, 1 stop bit and no parity. It supports the
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
example: $GPGGA, 161229.487,
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
Table 2 GGA Data Format
Name
Message ID
Example
$GPGGA
Units
Description
GGA protocol header
UTC Position
Latitude
161229.487
3723.2475
hhmmss.sss
ddmm.mmmm
N/S Indicator
Longitude
N
N=north or S=south
dddmm.mmmm
12158.3416
E/W Indicator
Position Fix Indicator
Satellites Used
HDOP
MSL Altitude
Units
W
1
07
1.0
9.0
M
E=east or W=west
See Table 2-1
Range 0 to 12
Horizontal Dilution of Precision
meters
meters
meters
meters
Geoid Separation
Units
M
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Age of Diff. Corr.
second Null fields when DGPS is not used
Diff. Ref. Station ID
Checksum
0000
*18
End of message termination
＜CR＞＜LF＞
Table 2-1 Position Fix Indicator
Value
Description
0
1
2
3
Fix not available or invalid
GPS SPS Mode, fix valid
Differential GPS, SPS Mode, fix valid
GPS PPS Mode, fix valid
example:$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
Table 4 GSA Data Format
Name
Message ID
Mode 1
Example
$GPGSA
Units
Description
GSA protocol header
A
3
See Table 4-2
See Table 4-1
Mode 2
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
11
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Table 4-2 Mode 2
Value
M
A
Description
Manual-forced to operate in 2D or 3D mode
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 GGA Data Format
Name
Message ID
Example
$GPGSV
Units
Description
GSV protocol header
Number of Messages1
Messages Number1
Satellites in View
Satellite ID
Elevation
2
1
Range 1 to 3
Range 1 to 3
07
07
79
048
42
Channel 1(Range 1 to 32)
degrees Channel 1(Maximum 90)
degrees Channel 1(True, Range 0 to 359)
dBHz Range 0 to 99, null when not tracking
….
Azimuth
SNR (C/No)
….
Satellite ID
Elevation
Azimuth
SNR (C/No)
Checksum
27
27
138
42
Channel 4(Range 1 to 32)
degrees Channel 4(Maximum 90)
degrees Channel 4(True, Range 0 to 359)
dBHz Range 0 to 99, null when not tracking
*71
End of message termination
＜CR＞＜LF＞
1Depending on the number of satellites
Specific GNSS Data
tracked multiple messages of GSV data may
be required.
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
Table 6 GGA Data Format
Name
Message ID
UTC Position
Status
Latitude
N/S Indicator
Longitude
E/W Indicator
Speed Over Ground
Course Over Ground
Date
Example
$GPRMC
161229.487
A
3723.2475
N
Units
Description
RMC protocol header
hhmmss.sss
A=data valid or V=data not valid
ddmm.mmmm
N=north or S=south
dddmm.mmmm
12158.3416
W
E=east or W=west
0.13
knots
309.62 degrees
120598
True
ddmmyy
Magnetic Variation
Checksum
degrees
E=east or W=west
*10
End of message termination
＜CR＞＜LF＞
12
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Table 7 contains the values of the following
example:$GPVTG, 309.62, T, , M,
0.13, N, 0.2, K*6E
VTG-Course Over Ground and
Ground Speed
Table 7 VTG Data Format
Name
Message ID
Course
Reference
Course
Reference
Speed
Example
$GPVTG
309.62
T
Units
degrees
degrees
knots
Description
VTG protocol header
Measured heading
True
Measured heading
Magnetic
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 menu. 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
numeric characters . Input messages begin
at MID 100.
Carriage Return (CR) Line Feed (LF) which
is \r\n which is hex 0D 0A. Because \r\n are
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.
2Message specific data. Refer to a specific
message section for <data>…<data>
definition
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
13
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SIRF NMEA Input Messages
Message
Message
Identifier
(MID)
100
Description
Set Serial Port
Navigation Initialization
Set DGPS Port
Query / Rate Control
LLA Navigation
Initialization
Set PORT A Parameters and protocol
Parameters required for start using X/Y/Z
Set PORT B parameters for DGPS input
Query standard NMEA message and/or set output rate
Parameters required for start using Lat/Lon/Alt1
101
102
103
104
Development Data
On/Off
105
Development Data messages On/Off
Input coordinates must be WGS84.
extensive command message set is
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
*0C
<CR><LF>
End of message termination
1SiRF protocol is only valid for 8data bits, 1 stop bit,
and no parity.
parameters . Correct initialization
parameters enable the Evaluation Unit to
acquire signals quickly.
LLA Navigation Initialization
This command is used to initialize the
module for a warm start, which provide
current position (in X, Y, Z coordinates),
clock offset , and time .This enables the
Evaluation Unit to search for the correct
satellite signals at the correct signal
Table 9 contains the input values for the
following example:Switch to SiRF Binary
protocol at 9600,8,N,1 $PSRF
101,-2686700,-4304200, 3851624, 95000,
497260, 921, 12, 3*22
14
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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
GPS Time OF Week
GPS Week Number
Range 1 to 12
Time Of Week
Week No
Channel Count
Reset Cfh
497260
921
12
seconds
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,
and no parity. If a DGPS received, the
parameters are stored in battery – backed
SRAM and then the receiver restarts using
the saved parameters.
Set DGPS Port
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. $PSRF 102,9600,8,1,0*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
when the message is accepted.
Query/Rate Control
Table 12 Query/Rate Control Data
Format(See example 1.)
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
be polled once, or setup for periodic output.
Checksums may also be enabled or disabled
depending on the needs of the receiving
program. NMEA message settings are saved
in battery-backed memory for each entry
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:
$PSRF103,05,00,01,01*20
3.Disable VTG message
$PSRF103,05,00,00,01*21
15
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Table 12 Query/Rate Control Data Format(See example 1.)
Name
Message ID
Example
$PSRF103
Units
Description
PSRF102 protocol header
Message
Mode
00
01
See Table 13
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
Degrees Latitude position (Range 90 to –90)
Degrees Longitude position (Range 180 to –180)
Meters
Hz
Altitude position
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
0x04
Description
Data Valid – Warm /Hot Starts=1
Clear Ephemeris – Warm Start=1
Clear Memory – Cold Start =1
user to determine the source of the
Development Data On/Off
command rejection. Common reasons for
input command rejection are invalid
checksum of parameter out of specified
range.
Use this command to enable development
data information if you can not get the
commands accepted. Invalid commands
generate debug information that enables the
Table 16 contains the input values for the
16
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following examples:
2. Debug Off $PSRF 105,1*3F
1. Debug On $PSRF 105,1*3E
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)
End
Sequence
0xB0,
Payload
1
10-1
0xA0 ,
Up to 2
0xB3
0xA2
(<1023 )
0xYY denotes a hexadecimal byte value. 0xA0 equals 160.
Transport
refers to the payload byte length. Likewise,
the check sum is a sum on the payload.
Message Length
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
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 message length is transmitted high
order byte first followed by the low byte.
High Byte
<0x3F>
Low Byte
Any value
Even though the protocol has a maximum
15-1
length of (2
) 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..
Message Validation
The validation layer is of part of the transport,
but operates independently. The byte count
17
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Payload Data
by the transport. Let msgLen be the number
of bytes in the message array to be
transmitted .
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
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
Index = first
checkSum = 0
while index < msgLen
checkSum = checkSum +message[index]
checkSum = checkSum AND(210-1)
The check sum is transmitted high order
byte first followed byte the low byte. This is
the so-called big- endian order
Input Messages for SiRF Binary
Protocol
High Byte
<0x3F
Low Byte
Any value
Note – All input messages are sent in
BINARY
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
format
Table 17 SiRF Messages – Input Message List
Hex
ASCII
128
129
130
132
136
137
138
139
140
141
142
143
144
145
146
147
149
150
151
152
Name
0 x 80
0 x 81
0 x 82
0 x 84
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
0 x 92
0 x 93
0 x 95
0 x 96
0 x 97
0 x 98
Initialize Data Source
Switch to NMEA Protocol
Set Almanac
Software Version
Mode Control
DOP Mask Control
DFPS Control
Elevation Mask
Power Mask
Editing Residual
Steady-State Detection
Static Navigation
Clock Status
Set DGPS Serial Port
Almanac
Ephemeris
Set Ephemeris
Switch Operating Mode
Set Trickle Power Parameters
Navigation Parameters (Poll)
with the following initialization data:ECEF
Initialize Data Source-Message I.D.
128
WYZ (-2686727 m,-4304282 m,3851642
m),Clock Offset (75,000 Hz),Time of
Week(86,400 s),Week Number(924),Week
Number(924),and Channels(12). Raw
Table 18 contains the input values for the
following example:Warm start the receiver
18
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track data Debug data enabled.
Example:
80FFD700F9FFBE5266003AC57A000124
F80083S600039C0C33- Payload
0A91B0B3-Message Checksum and End
Sequence
A0A20019-Start Sequence and Payload
Length
Table 18 Initialize Data Source
Binary(Hex)
Scale Example
Name
Bytes
Units
Description
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 19 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
Reserved (must be 0)
Enable raw track data (YES-1,NO=0)
Enable raw track data(TES=1,NO=0)
Reserved(must be 0)
Reserved (must be 0)
following example:
Note - If Raw Track Data is ENABLED
then the resulting messages are message
I.D. 0x05(ASCII 5-Raw Track Data),
message I.D. 0x08(ASCII 8-50 BPS data),
and message I.D.
Request the following NMEA data at 9600
baud:
GGA – ON at 1 sec , GLL – 1sec , GSA – ON
at 1 sec GSV – ON at 1 sec , RMC – 1 sec ,
VTG – 1 sec
0x90 (ASCII 144 Clock Status). All
messages are sent at 1 Hz.
Example:
A0A20018 – Start Sequence and Payload
Length
8102010100010501050100010001000100010
001000112C0 – Payload
Switch To NMEA Protocol – Message
I.D. 129
0164B0B3 – Message Checksum and End
Sequence
Table 20 contains the input values for the
Table 20 Switch To NMEA Protocol
Binary(Hex)
Name
Message ID
Mode
Bytes
Units
Description
Scale Example
1
1
1
1
81
02
01
01
ASCII 129
GGA Message1
Checksum2
1/s
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GLL Message
Checksum
BSA Message
Checksum
GSV Message
Checksum
RMC Message
Checksum
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
00
01
05
01
05
01
00
01
00
01
00
01
00
01
00
01
00
01
12C0
1/s
1/s
1/s
1/s
1/s
VTG Message
Checksum
Unused Field
Unused Field
Unused Field
Unused Field
Unused Field
Unused Field
Unused Field
Unused Field
Baud Rate
Recommended value
Recommended value
Recommended value
Recommended value
Recommended value
Recommended value
Recommended value
Recommended value
38400,19200,9600,4800,2400
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
this manual. For information on
implementation contact SiRF Technology
Inc.
Software Version – Message I.D. 132
Table 21 contains the input values for the
following example:Poll the software
version
message using a value of
0x05.)Maximum rate is 1/255s.
(2) A value of 0x00 implies the checksum
is NOT calculated OR transmitted
with the message (not
Example:
A0A20002 – Start Sequence and Payload
Length
recommended ) .A value of 0x01 will
have a checksum calculated and
transmitted as part of the message
(recommended).
8400 – Payload
0084B0B3 – Message Checksum and End
Sequence
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
Table 21 Software Version
Binary(Hex)
Name
Message ID
TBD
Bytes
1
1
Units
Description
ASCII 132
Scale
Example
84
00
Payload Length: 2 bytes
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Example:
Mode control – Message I.D .136
Table 22 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 22 Mode Control
Binary(Hex)
Name
Message ID
3D Mode
Alt Constraint
Degraded Mode
TBD
Bytes
Units
Description
ASCII 136
1 (always true=1)
YES = 1,NO = 0
See Table C-7
Reserved
YES = 1,NO = 0
Range –1,000 to 10,000
Auto = 0,Always=1,Disable=2
Last Computed=0,Fixed to=1
Scale Example
1
1
1
1
1
1
2
1
1
1
1
88
01
01
01
01
01
0000
00
02
14
DR Mode
Altitude
Meters
Alt Hold Mode
Alt Source
Coast Time Out
Degraded Time
Out
Seconds 0 to 120
Seconds 0 to 120
05
Dr Time Out
Track Smoothing
1
1
01
01
Seconds 0 to 120
YES = 1,NO = 0
Payload Length:14 bytes
Table 23 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 24 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
21
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Table 24 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 25 DOP Selection
Byte Value
Description
0
1
2
3
4
Auto PDOP/HDOP
PDOP
HDOP
GDOP
Do Not Use
Example:
DGPS Control – Message I.D.138
Table 26 contains the input values for the
following example:
A0A20003 – Start Sequence and Payload
Length
8A011E – Payload
Set DGPS to exclusive with a time out of
30 seconds.
00A9B0B3 – Message Checksum and
End Sequence
Table 26 DGPS Control
Binary(Hex)
Name
Message ID
DGPS Selection
DGPS Time Out
Bytes
Units
Description
ASCII 138
See Table 27
Range 1 to 120
Scale
Example
8A
1
1
1
01
1E
Seconds
Payload Length:3 bytes
Table 27 DGPS Selection
Byte Value
Description
0
1
2
3
Auto
Exclusive
Never
Mixed (not recommended)
Example:
Elevation Mask – Message I.D.139
Table 28 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).
22
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Table 28 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
009B
1
2
2
*10
*10
degrees
degrees
Payload Length:5 bytes
Length
Power Mask – Message I.D.140
Table 29 contains the input values for the
following example: Navigation mask to
33dBHz (tracking default value of 28)
Example:
8C1C21 – Payload
00C9B0B3 – Message Checksum and
End Sequence
A0A20003 – Start Sequence and Payload
Table 29 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 Not currently implemented
dBHz Range –28 to 50
Payload Length:3 bytes
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 30 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 30 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 31 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
23
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Example:
Set DGPS Serial Port – Message I.D
145
A0A20009-Start Sequence and Payload
Length
Table 32 contains the input values for the
following example:Set DGPS Serial port to
9600.n,8,1.
910000258008010000 – Payload
013FB0B3 – Message Checksum and End
Sequence
Table 32 Set DGPS Serial Port
Binary(Hex)
Name
Message ID
Baud
Data Bits
Stop Bit
Parity
Bytes
Units
Description
Scale
Example
1
4
1
1
1
1
91
ASCII 145
00002580
38400,19200,9600,4800,2400,1200
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 33 contains the input values for the
following example:Poll for the Almanac.
Example:
9200 – Payload
0092B0B3 – Message Checksum and End
Sequence
Table 33 Almanac
Binary(Hex)
Name
Message ID
TBD
Bytes
1
1
Units
Description
ASCII 146
Reserved
Scale
Example
92
00
Payload Length: 2 bytes
Length
930000 – Payload
Ephemeris Message I.D.147
Table 34 contains the input values for the
following example:Poll for Ephemeris Data
for all satellites.
0092B0B3 – Message Checksum and End
Sequence
Example:
A0A20003 – Start Sequence and Payload
Table 34 Almanac
Binary(Hex)
Name
Message
ID
Bytes
1
Units
Description
ASCII 147
Scale
Example
93
Sv I.D.1
TBD
1
1
00
00
Range 0 to 32
Reserved
Payload Length:3 bytes
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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 35 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
revert to SiRF binary mode. (See page 9, ”
NMEA Input Messages “ for more
information)
Sets the receiver to track a single satellite
on all channels.
Example:
A0A20007—Start Sequence and Payload
Length
961E510006001E—Payload
0129B0B3—Message Checksum and End
Sequence
Table 35 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
A0A20009—Start Sequence and Payload
Length
Set Trickle Power Parameters -
Message I.D. 151
97000000C8000000C8—Payload
0227B0B3—Message Checksum and End
Sequence
Table 36 contains the input values for the
following example: Sets the receiver into
low power Modes. Example: Set receiver
into Trickle Power at 1 hz update and 200
ms On Time.
Table 36 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
1
2
2
4
*10
%
000000C8 ms
Range 200 ~ 500 ms
Payload Length: 9bytes.
25
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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 37 Example of selections for Trickle Power Mode of Operation
Mode
Continuous
Trickle Power
Trickle Power
Trickle Power
Trickle power
On Time (ms)
Duty Cycle (%)
Update rate (1/Hz)
1000
200
200
300
500
100
20
10
10
5
1
1
2
3
10
See Table 38 for supported/unsupported settings.
Table 38 Trickle Power Mode Settings
On Time
(ms)
200
Update Rate (second)
1
2
3
N
Y
Y
Y
Y
Y
Y
Y
4
N
Y
Y
Y
Y
Y
Y
Y
5
N
Y
Y
Y
Y
Y
Y
Y
6
N
Y
Y
Y
Y
Y
Y
Y
7
N
N
Y
Y
Y
Y
Y
Y
8
N
N
Y
Y
Y
Y
Y
Y
Y
Y
Y
Y
Y
Y
Y
Y
Y
Y
Y
Y
Y
Y
Y
Y
300
400
500
600
700
800
900
Y = Yes (Mode supported)
N = No (Mode NOT supported)
the amount of time the receiver remains
off will be in proportion to how long it
stayed on:
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
Off period = (On Period*(1-Duty Cycle) /
Duty Cycle)
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
Off Period is limited to 30 minutes. The
duty cycle will not be less than
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
re-calibrate and shut down. In either case,
26
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seconds.
Example: Poll receiver for current
navigation parameters.
A0A20002—Start Sequence and Payload
Length
Poll Navigation Parameters -
Message I.D. 152
9800—Payload
Table C-20 contains the input values for
the following example:
0098B0B3—Message Checksum and End
Sequence
Table 39 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
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 40 lists the message list for the SiRF output messages
Hex ASCII
Name
Measured Navigation Data
Measured Tracking Data
Raw Track Data
SW version
Clock Status
Description
Position, velocity, and time
Signal to noise information
Measurement information
Receiver software
0x02
0x04
0x05
0x06
0x07
0x08
0x09
0x0B
0x0C
0X0D
0x0E
0x0F
0xFF
2
4
5
6
7
8
9
50 BPS Subframe Date
Throughput
Standard ICD format
CPU load
Successful request
Unsuccessful request
11 Command Acknowledgment
12 Command N Acknowledgment
13 Visible List
14 Almanac Data
15 Ephemeris Data
255 Development Data
Various data messages
A0A20029 – Start Sequence and Payload
Length
Measure Navigation Data Out –
Message I.D.2
02FFD6F78CFFBE869E003AC004000301
04A00036B039780E3
Output Rate: 1 Hz
Table 41 lists the binary and ASCII
message data format for the measured
navigation data
0612190E160F04000000000000 –
Payload
09BBB0B3 – Message Checksum, and
End Sequence
Example:
27
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Table 41 Measured Navigation Data Out – Binary & ASCII Message Data Format
Binary(Hex) ASCII(Decimal)
Name
Message ID
X – position
Y – position
Z – position
X – velocity
Y – velocity
Z – velocity
Mode1
Bytes
1
Units
Scale
Example
Scale
Example
02
2
4
FFD6F78C
M
M
-2689140
4
FFBE536E
-4304018
4
003AC004
M
3850244
2
*8
*8
*8
00
03
M/s
Vx/8
Vy/8
/8
0
2
M/s
0.375
2
01
M/s
0.125
1
04
Bitmap1
4
DOP2
1
*5
A
/5
2.0
Mode3
1
00
Bitmap3
seconds
0
GPS Week
GPS TOW
SVs in Fix
CH 1
2
036B
039780E3
06
875
4
*100
/100
602605.79
1
6
18
25
14
22
15
4
1
12
CH 2
1
19
CH 3
1
0E
CH 4
1
16
CH 5
1
0F
CH 6
1
04
CH 7
1
00
0
CH 8
1
00
0
CH 9
1
00
0
CH 10
1
00
0
CH 11
1
00
0
CH 12
1
00
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 42 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)
28
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Table 43 Mode 2
Mode 2
Description
Hex
0x00
0x01
0x02
0x03
0x04
0x05
0x06
0x07
ASCII
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 44 lists the binary and ASCII
message data format for the measured
tracker data.
Example:A0A200BC – Start Sequence
and Payload Length
Table 44 Measured Tracker Data Out
Binary(Hex)
ASCII(Decimal)
Name
Message ID
GPS Week
GPS TOW
Channels
1st Sv ID
Azimuth
Elev.
Bytes
1
2
4
1
1
1
1
2
1
1
1
1
1
1
1
1
Units
None
Scale
Example
04
036C
0000937F
0C
Scale
Example
4
876
37759
12
14
256.5
35
S*100
S
S/100
0E
AB
46
003F
1A
1E
1D
1D
19
1D
1A
1A
1D
1F
1D
59
42
Az*[2/3]
EI*2
Degree
Degree
Bitmap1
/[2/3]
/2
State
63
26
30
29
29
25
29
26
26
29
31
29
89
66
63
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.
1
1
1
1
1
2
Az*[2/3]
EI*2
Degree
Degree
Bitmap1
/[2/3]
/2
State
3F
C/NO 1
C/NO 2
…..
1
1
1A
1A
26
63
Payload Length: 188 bytes
For further information, go to Table 45.
Note – Message length is fixed to 188
bytes with non tracking channels reporting
29
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REV-2000 Operational Manual
zero values
Table 45 Trk. to NAV Struct. Trk._status Field Definition
Field Definition
ACQ_SUCCESS
Hex Value
0x0001
Description
Set if acq/reacq if done successfully
DELTA_CARPHASE_VALI
D
0x0002
Integrated carrier phase is valid
BIT_SYNC_DONE
SUBFRAME_SYNC_DONE
CARRIER_PULLIN_DONE
CODE_LOCKED
ACQ_FAILED
GOT_EPHEMERIS
0x0004
0x0008
0x0010
0x0020
0x0040
0x0080
Bit sync completed flag
Subframe sync has been done
Carrier pull in done
Code locked
Failed to acquire S/V
Ephemeris data available
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 46 lists the binary and ASCII
message data format for the raw tracker
data .
0B2DB0B3 – Message Checksum and
End Sequence
Example:
Table 46 Raw Tracker Data Out
Binary(Hex)
ASCII(Decimal)
Name
Message ID
Channel
SVID
State
Bits
Ms
Chips
Code Phase
Bytes
Units
Scale
Example
05
00000007
0013
003F
00EA1BD4
000D
Scale
Example
1
4
2
2
4
2
2
4
5
7
19
Bitmap1
Bit
Ms
Chip
Chip
63
15342548
13
914
38787
0392
00009783
-16
2
-16
/2
Carrier Doppler
4
-10
000DF45E
Rad/2ms
-10
914526
2
/2
Time Tag
4
4
000105B5
FF90F5C2
Ms
Cycles
66997
-7277118
Delta Carrier2
-10
2
-10
/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
1
00000007
7
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REV-2000 Operational Manual
Integration
Interval
Track Loop
Iteration
2
2
0013
003F
Ms
19
63
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:
State:
Bit Number:
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)
Number of GPS bits transmitted since Sat-Sun midnight (in Greenwich) at a
50 bps rate.
Millisecond Number:
Chip Number:
Number of milliseconds of elapsed time since the last received bit(20 ms
between bits)
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:
Receiver Time Tag:
The current value of the carrier frequency as maintained by the tracking
loops.
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.
Search Count:
C/No:
This is the number of times the tracking software has completed full satellite
signal searche.s
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.
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).
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).
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).
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.
Power Loss Count:
Phase Loss Count:
Integration Interval:
Track Loop Iteration:
The following variables from the raw track
Calculation of Pseudo-Range
Measurements
data are required for each satellite:
Bit Number (BN) – 50 bits per second
Millisecond Number (MSN)
Chip Number (CN)
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
Code Phase (CP)
Receiver Time Tag (RTTag)
Delta Carrier Phase (DCP)
The following steps are taken to get the psr
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REV-2000 Operational Manual
data and carrier data for each measurement
epoch.
on the correlation interval to improve
precision.
5. Compute the delta range.
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.
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.
2. Computation of Transmit Time (TT) in
seconds.
3. Calculate Pseudo-range at a common
receiver time of the first channel of
the measurement data set. Note-All
channel measurements are NOT
taken at the same time. Therefore, all
ranges must be extrapolated to a
common measurement epoch. For
simplicity, the first channel of each
measurement set is used as the
reference to which all other
Response :Software Version
String – Message I.D.6
Output Rate:Response to polling message
Example:
A0A20015 – Start Sequence and Payload
Length
0606312E322E30444B495431313920534
D0000000000-Payload
0382B0B3 – Message Checksum and End
Sequence
measurements are extrapolated.
4. Extrapolate the pseudo-range based
Table 47 Software Tracker Data Out
Binary(Hex)
ASCII(Decimal)
Name
Message ID
Character
Bytes
1
20
Units
Scale Example
Scale
Example
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
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0598B0B3 – Message Checksum and End Sequence
Table 48 Clock Status Data Message
Binary(Hex)
ASCII(Decimal)
Name
Message ID
GPS Week
GPS TOW
Svs
Clock Drift
Clock Bias
Estimated GPS
Time
Bytes
Units
S
Scale
Example
07
03BD
02154924
08
2231
7923
DAEF
Scale
/100
Example
7
957
349494.12
8
74289
1
2
4
1
4
4
4
*100
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 49 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)
CPU Throughput – Message I.D.9
Output Rate:1 Hz
Example:A0A20009 – Start Sequence and
Payload Length
Note – Data is logged in ICD format
(available from www.navcen.uscg.mail)
09003B0011001601E5 – Payload
0151B0B3 – Message Checksum and End
Sequence
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REV-2000 Operational Manual
Table 50 CPU Throughput
Binary(Hex)
ASCII(Decimal)
Name
Bytes
Units
Scale Example
09
Scale
Example
9
.3172
.0914
.1183
485
Message ID
SegStatMax
SegStatLat
AveTrkTime
Last MS
1
2
2
2
2
*186
003B
0011
0016
01E5
ms
ms
ms
ms
/186
/186
/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 51 Command Acknowledgment
Binary(Hex)
ASCII(Decimal)
Name
Message ID
Ack.I.D.
Bytes
1
1
Units
Scale Example
Scale
Example
11
146
0B
92
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 52 Command N Acknowledgment
Binary(Hex)
ASCII(Decimal)
Name
Message ID
N Ack. I.D
Bytes
1
1
Units
Scale Example
Scale
Example
12
146
0C
92
Payload Length:2 bytes
Svs in Table 53), Maximum is 12 satellites
Example:A0A2002A – Start Sequence and
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
satellites are reported(as define by visible
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REV-2000 Operational Manual
****B0B3 – Message Checksum and End
Sequence
Table 53 Visible List
Binary(Hex)
Scale Example
ASCII(Decimal)
Example
Name
Bytes
Units
Scale
Message ID
Visible Svs
CH 1 –Sv I.D
CH 1 –Sv Azimuth
CH 1 –Sv
1
1
1
2
2
0D
08
07
0029
0038
13
8
7
41
56
Degrees
Degrees
Elevation
CH 2 –Sv I.D
CH 2 –Sv Azimuth
CH 2 –Sv
1
2
2
09
0133
002C
9
307
44
Degrees
Degrees
Elevation
……
Payload Length:62 bytes(maximum)
and Payload Length
Almanac Data – Message I.D.14
0E01************* - Payload
****B0B3 – Message
Output Rate:Response to poll
Example
:A0A203A1 – Start Sequence
checksum and End Sequence
Table 54 Visible List
Binary(Hex)
ASCII(Decimal)
Name
Bytes
Units
Scale Example
Scale
Example
Message ID
Sv I.D.(1)
Almanac
Data[14][2]
….
1
1
28
0E
01
14
1
Sv I.D.(32)
Almanac
Data[14][2]
1
28
20
32
Payload Length: 929 bytes(maximum)
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
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REV-2000 Operational Manual
Table 55 Visible List
Binary(Hex)
ASCII(Decimal)
Name
Message ID
Bytes
1
Units
Scale Example
FF
Scale
Example
255
Payload Length:Variable
Note – Messages are output to give the
user information of receiver activity.
(i.e., 0x4E is ‘N’) these are low priority task
and are not necessarily output at constant
intervals.
Convert to symbol to assemble message
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REV-2000 Operational Manual
Contact Information Section
„ Contact : sales@royaltek.com
„ HEADQUARTER :
Add : 1071 Chung Cheng Rd., Suite 9F-1
Tao Yuan City , Taiwan , R.O.C.
Tel : 886 – 3 - 3569666
Fax : 886 – 3 - 3580050
„ Factory
Add : No. 40-10 San Chi Road , Wu Chieh Hsiang
I Lan Hsien , Taiwan , R.O.C.
Tel : 886 – 3 – 9605959
Fax : 886 – 3 – 9605151
„Customer Service mail : sales@royaltek.com
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